diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index dba1d4a954eeba9a34cec681171c06ddebbe3787..f9513ef1ee7006509cce0faaca8d6212b32801d9 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -1,40 +1,39 @@
{
- "configurations": [
- {
- "browse": {
- "databaseFilename": "${default}",
- "limitSymbolsToIncludedHeaders": false
- },
- "includePath": [
- "/home/matteo/ccf_sim_workspace/devel/include/**",
- "/opt/ros/noetic/include/**",
- "/home/matteo/ccf_sim_workspace/src/BehaviorTree.CPP/include/**",
- "/home/matteo/ccf_sim_workspace/src/ccf/include/**",
- "/home/matteo/ccf_sim_workspace/src/ccf_immersive_sorting/include/**",
- "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_grasp_plugin/include/**",
- "/home/matteo/ccf_sim_workspace/src/gazebo_pkgs/gazebo_state_plugins/include/**",
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- "/home/matteo/ccf_sim_workspace/src/moveit-grasps-reduced/include/**",
- "/home/matteo/ccf_sim_workspace/src/moveit_task_constructor/core/include/**",
- "/home/matteo/ccf_sim_workspace/src/moveit_task_constructor/demo/include/**",
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- "/usr/include/**",
- "${workspaceFolder}/include"
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- "name": "ROS",
- "intelliSenseMode": "gcc-x64",
- "compilerPath": "/usr/bin/gcc",
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+ "configurations": [
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+ ],
+ "name": "ROS",
+ "intelliSenseMode": "gcc-x64",
+ "compilerPath": "/usr/bin/gcc",
+ "cStandard": "gnu11",
+ "cppStandard": "c++17"
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+ ],
+ "version": 4
}
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diff --git a/CMakeLists.txt b/CMakeLists.txt
index c070a30d74c68ab8b2bf0d3a86159a1fb9a64e41..fd6008a397cc6d026cc3410c6d97780a81f37c24 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,8 +70,6 @@ add_executable(cell_routine src/cell_routine.cpp
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp
@@ -97,7 +95,6 @@ src/robot/ceti_robot.cpp
src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
-src/robot_element/observers/field.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
@@ -108,8 +105,6 @@ add_executable(robot_base_calculation_approach src/robot_base_calculation_approa
src/base_bridge/simple_base_implementation.cpp
src/base_bridge/simple_base.cpp
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp
@@ -135,7 +130,6 @@ src/robot/ceti_robot.cpp
src/robot_element/decorators/abstract_robot_element_decorator.cpp
src/robot_element/decorators/log_decorator.cpp
-src/robot_element/observers/field.cpp
src/robot_element/observers/moveit_panel.cpp
src/robot_element/observers/panel.cpp
src/robot_element/observers/rviz_panel.cpp
@@ -148,8 +142,6 @@ src/reader/task_space_reader.cpp
src/reader/robot_reader.cpp
src/reader/job_reader.cpp
-src/bt/trajetory.cpp
-src/bt/planning_scene.cpp
src/bt/execution.cpp
src/bt/position_condition.cpp
src/bt/parallel_robot.cpp
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+++ b/doc/html/abstract__base_8h.html
@@ -27,39 +27,40 @@ $(function() {
<div class="title">abstract_base.h File Reference</div> </div>
</div><!--header-->
<div class="contents">
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<code>#include <xmlrpcpp/XmlRpc.h></code><br />
<code>#include <tf2/LinearMath/Transform.h></code><br />
-<code>#include "octomap/octomap.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__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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+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">AbstractBaseClass. <a href="classAbstractBase.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -91,7 +92,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
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+<div class="line"><a name="l00017"></a><span class="lineno"> 17</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="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">class </span><a class="code" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a>;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">class </span><a class="code" href="classAbstractRobot.html">AbstractRobot</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="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="l00027"></a><span class="lineno"><a class="line" href="classAbstractBase.html"> 27</a></span> <span class="keyword">class </span><a class="code" href="classAbstractBase.html">AbstractBase</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="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865"> 29</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">nh_</a>; </div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3"> 30</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a>; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2"> 31</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a>; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833"> 32</a></span>  std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>> <a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a>; </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9"> 33</a></span>  std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>> <a class="code" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a>; </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85"> 34</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a>; </div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d"> 37</a></span>  std::shared_ptr<AbstractBaseImplementation> <a class="code" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a>; </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="l00041"></a><span class="lineno"> 41</span>  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1"> 44</a></span>  <a class="code" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh) : <a class="code" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">nh_</a>(nh){};</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="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="l00047"></a><span class="lineno"><a class="line" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330"> 47</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a>* <a class="code" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a>.get();}</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820"> 48</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">setImplementation</a>(std::shared_ptr<AbstractBaseImplementation> <a class="code" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>) {<a class="code" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a> = <a class="code" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>;}</div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d"> 49</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>() { <span class="keywordflow">return</span> <a class="code" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a>;}</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e"> 50</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">setResult</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>) { <a class="code" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a> = <a class="code" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>;}</div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f"> 51</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">invMap</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a>;}</div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968"> 52</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">setInvMap</a>(std::vector<tf2::Transform>& inv_map) {<a class="code" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a> = inv_map;}</div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be"> 53</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a>;}</div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2"> 54</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">setMap</a>(std::vector<tf2::Transform>& <a class="code" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>) {<a class="code" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a> = <a class="code" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>;}</div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f"> 55</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="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">taskSpace</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a>;}</div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb"> 56</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">setTaskSpace</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="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a> = s_trans;}</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390"> 57</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& <a class="code" href="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">targetCloud</a> () { <span class="keywordflow">return</span> <a class="code" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a>;}</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d"> 58</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">setTargetCloud</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {<a class="code" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a> = cloud;}</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">static</span> std::vector<pcl::PointXYZ> <a class="code" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">createPCLBox</a>();</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 class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">baseCalculation</a>()=0;</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> };</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="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="aclassAbstractBase_html_aca91c42c8d4ca13f51025de8e4c5d330"><div class="ttname"><a href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">AbstractBase::implementation</a></div><div class="ttdeci">AbstractBaseImplementation * implementation()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00047">abstract_base.h:47</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a0680387079016eb6900dfa8cbd9f2820"><div class="ttname"><a href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">AbstractBase::setImplementation</a></div><div class="ttdeci">void setImplementation(std::shared_ptr< AbstractBaseImplementation > implementation)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00048">abstract_base.h:48</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a92098cb30708dcaf486f0215f290b58f"><div class="ttname"><a href="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">AbstractBase::taskSpace</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion > > > > & taskSpace()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00055">abstract_base.h:55</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_aeacda40d37c21c372f852aff0ebcef1d"><div class="ttname"><a href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">AbstractBase::result</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > & result()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00049">abstract_base.h:49</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="aclassAbstractBase_html_aabdd4fed67cfd7af450c01ea3f807f5d"><div class="ttname"><a href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">AbstractBase::implementation_</a></div><div class="ttdeci">std::shared_ptr< AbstractBaseImplementation > implementation_</div><div class="ttdoc">refined implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00037">abstract_base.h:37</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_ae4b06c34ce6ad789c3db35dbc072d59e"><div class="ttname"><a href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">AbstractBase::setResult</a></div><div class="ttdeci">void setResult(std::map< const std::string, std::vector< pcl::PointXYZ >> &result)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00050">abstract_base.h:50</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a37a6df1710f8fc49e933bfb40a0e5833"><div class="ttname"><a href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">AbstractBase::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#l00032">abstract_base.h:32</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html"><div class="ttname"><a href="classAbstractBase.html">AbstractBase</a></div><div class="ttdoc">AbstractBaseClass.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00027">abstract_base.h:27</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html"><div class="ttname"><a href="classAbstractRobot.html">AbstractRobot</a></div><div class="ttdoc">Abstract Robot implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00025">abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a4d7b577f01558c9cc6bd773785980ed2"><div class="ttname"><a href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">AbstractBase::inv_map_</a></div><div class="ttdeci">std::vector< tf2::Transform > inv_map_</div><div class="ttdoc">InverseReachabilityMap structure (Zacharias)</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="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="aclassAbstractBase_html_a3f32391c670c3ce6d2e8e1506b6fdee9"><div class="ttname"><a href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">AbstractBase::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#l00033">abstract_base.h:33</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a33cd7973db1e3e56909190ff1b0b7865"><div class="ttname"><a href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">AbstractBase::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00029">abstract_base.h:29</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a129121e9e3ea6a57d6f0c05938050deb"><div class="ttname"><a href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">AbstractBase::setTaskSpace</a></div><div class="ttdeci">void setTaskSpace(std::map< const std::string, std::vector< std::pair< object_data, std::vector< tf2::Quaternion >>>> &s_trans)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00056">abstract_base.h:56</a></div></div>
+<div class="ttc" id="aclassAbstractBaseImplementation_html"><div class="ttname"><a href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></div><div class="ttdoc">Abstract base implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00012">abstract_base_implementation.h:12</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a1458e9649f0b5648ddb21c7bcbbf64d1"><div class="ttname"><a href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase::AbstractBase</a></div><div class="ttdeci">AbstractBase(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdoc">constructor</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00044">abstract_base.h:44</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a5b533569dfc28bac7fa8b535e57e81db"><div class="ttname"><a href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">AbstractBase::createPCLBox</a></div><div class="ttdeci">static std::vector< pcl::PointXYZ > createPCLBox()</div><div class="ttdoc">createPCLBox box</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00078">simple_base.cpp:78</a></div></div>
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<a href="http://wiki.ros.org/multi_cell_builder">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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Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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<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>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
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+<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> <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>
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+<div class="ttc" id="aclassAbstractBaseImplementation_html_abb5172709cdc196c327e54e1d7b7b685"><div class="ttname"><a href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">AbstractBaseImplementation::~AbstractBaseImplementation</a></div><div class="ttdeci">~AbstractBaseImplementation()=default</div></div>
+<div class="ttc" id="aclassAbstractBaseImplementation_html_a5fa7fc17adff1ffa369ba838e84105cd"><div class="ttname"><a href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation::AbstractBaseImplementation</a></div><div class="ttdeci">AbstractBaseImplementation()=default</div></div>
+<div class="ttc" id="aclassAbstractBaseImplementation_html_a8dd0009cc916d3dd7afde8ae7e7a755a"><div class="ttname"><a href="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">AbstractBaseImplementation::setGraspOrientations</a></div><div class="ttdeci">virtual void setGraspOrientations(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="aabstract__base_8h_html"><div class="ttname"><a href="abstract__base_8h.html">abstract_base.h</a></div></div>
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+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="aclassAbstractBaseImplementation_html"><div class="ttname"><a href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></div><div class="ttdoc">Abstract base implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00012">abstract_base_implementation.h:12</a></div></div>
+<div class="ttc" id="aclassAbstractBaseImplementation_html_a8b67007295cf1886c29be65fe7ed567b"><div class="ttname"><a href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">AbstractBaseImplementation::cloudCalculation</a></div><div class="ttdeci">virtual void cloudCalculation(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</div><div class="ttdoc">pure virtual methode to calculate pcl clouds</div></div>
+<div class="ttc" id="aclassAbstractBaseImplementation_html_ab1ce0fc309cd3870ed5fddbf77b53fe8"><div class="ttname"><a href="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">AbstractBaseImplementation::invMapCreation</a></div><div class="ttdeci">virtual void invMapCreation(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 calculate the inverse map</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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-</div><!--header-->
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-<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 />
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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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-<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>
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-<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>
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-<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>
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-
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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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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+<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>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_mediator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__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="abstract__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="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1"> 3</a></span> <a class="code" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator::AbstractMediator</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="classTSReader.html">TSReader</a>>(d))</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  , wing_reader_(std::make_unique<<a class="code" href="classWingReader.html">WingReader</a>>(d))</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  , robot_reader_(std::make_unique<<a class="code" href="classRobotReader.html">RobotReader</a>>(d))</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  {}</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02"> 10</a></span> pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a>(std::vector<pcl::PointXYZ>& vector){</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr task_voxel(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordflow">for</span>(pcl::PointXYZ& point : vector)</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  task_voxel->push_back(point);</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordflow">return</span> task_voxel;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aclassTSReader_html"><div class="ttname"><a href="classTSReader.html">TSReader</a></div><div class="ttdoc">TS reader.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00015">ts_reader.h:15</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_af50d0f408fcef5404043ba49627b42a1"><div class="ttname"><a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator::AbstractMediator</a></div><div class="ttdeci">AbstractMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00003">abstract_mediator.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00010">abstract_mediator.cpp:10</a></div></div>
+<div class="ttc" id="aclassWingReader_html"><div class="ttname"><a href="classWingReader.html">WingReader</a></div><div class="ttdoc">Wing reader.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00014">wing_reader.h:14</a></div></div>
+<div class="ttc" id="aclassRobotReader_html"><div class="ttname"><a href="classRobotReader.html">RobotReader</a></div><div class="ttdoc">Robot reader.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00015">robot_reader.h:15</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
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+<div 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">abstract_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 <octomap/octomap.h></code><br />
+<code>#include <pcl/point_cloud.h></code><br />
+<code>#include <pcl/octree/octree.h></code><br />
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+<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="abstract__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__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="robot__reader_8h_source.html">reader/robot_reader.h</a>"</code><br />
+<code>#include "<a class="el" href="ts__reader_8h_source.html">reader/ts_reader.h</a>"</code><br />
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+<p><a href="abstract__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="classAbstractMediator.html">AbstractMediator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a>. <a href="classAbstractMediator.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="structprotobuf__entry.html">protobuf_entry</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Protobuf entry. <a href="structprotobuf__entry.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="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Blueprint of panel data. <a href="structwing__BP.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 Mon Mar 27 2023 19:07:14</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><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_mediator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__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 <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 <octomap/octomap.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <pcl/octree/octree.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <filesystem></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 <fstream></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">#include "<a class="code" href="abstract__robot__decorator_8h.html">robot/decorators/abstract_robot_decorator.h</a>"</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="abstract__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__element_8h.html">robot_element/abstract_robot_element.h</a>"</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</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="l00019"></a><span class="lineno"> 19</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="l00020"></a><span class="lineno"> 20</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="l00021"></a><span class="lineno"> 21</span>  </div>
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+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structwing__BP.html"> 24</a></span> <span class="keyword">struct </span><a class="code" href="structwing__BP.html">wing_BP</a> {</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9"> 25</a></span>  std::string <a class="code" href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">name_</a>;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca"> 26</a></span>  tf2::Transform <a class="code" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">pos_</a>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56"> 27</a></span>  tf2::Vector3 <a class="code" href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">size_</a>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> };</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html"> 31</a></span> <span class="keyword">struct </span><a class="code" href="structprotobuf__entry.html">protobuf_entry</a>{</div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b"> 32</a></span>  std::string <a class="code" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">name_</a>; </div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8"> 33</a></span>  tf2::Transform <a class="code" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">tf_</a>; </div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058"> 34</a></span>  <span class="keywordtype">int</span> <a class="code" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">wing_config_</a>;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> };</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classAbstractMediator.html"> 41</a></span> <span class="keyword">class </span><a class="code" href="classAbstractMediator.html">AbstractMediator</a> {</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad"> 43</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a>; </div>
+<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa"> 44</a></span>  std::unique_ptr<TSReader> <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>; </div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938"> 45</a></span>  std::map<std::string, std::unique_ptr<AbstractRobotDecorator>> <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>; </div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db"> 46</a></span>  std::vector<std::vector<std::vector<tf2::Transform>>> <a class="code" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a>; </div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4"> 48</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>; </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc"> 49</a></span>  std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>> <a class="code" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a>;</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d"> 50</a></span>  std::string <a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a>; </div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907"> 52</a></span>  std::unique_ptr<WingReader> <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5"> 53</a></span>  std::unique_ptr<RobotReader> <a class="code" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a>; </div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619"> 67</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>& res) {<a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a> = res;}</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07"> 73</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>>& <a class="code" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a>;}</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d"> 79</a></span>  <span class="keyword">inline</span> std::map<const std::string, std::vector<pcl::PointXYZ>>& <a class="code" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>;}</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8"> 85</a></span>  <span class="keyword">inline</span> std::map<std::string, std::unique_ptr<AbstractRobotDecorator>>& <a class="code" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>;}</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
+<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd"> 91</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string& dirn) {<a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a> = dirn;}</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
+<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6"> 97</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a>;}</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  pcl::PointCloud< pcl::PointXYZ >::Ptr <a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector<pcl::PointXYZ>& vector);</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot)=0; </div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">mediate</a>()=0;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">setPanel</a>()=0;</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855"> 124</a></span>  <span class="keyword">inline</span> <a class="code" href="classWingReader.html">WingReader</a>* <a class="code" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>.get();}</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e"> 130</a></span>  <span class="keyword">inline</span> <a class="code" href="classRobotReader.html">RobotReader</a>* <a class="code" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a>.get();}</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> };</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="astructwing__BP_html_a6396b771cdeff0b866020e3293a84eca"><div class="ttname"><a href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP::pos_</a></div><div class="ttdeci">tf2::Transform pos_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00026">abstract_mediator.h:26</a></div></div>
+<div class="ttc" id="astructprotobuf__entry_html_a44e08c6e54f4bdd1317f6df29175230b"><div class="ttname"><a href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">protobuf_entry::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00032">abstract_mediator.h:32</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a135b24638b57ae0d7b01c436a333f3d3"><div class="ttname"><a href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator::mediate</a></div><div class="ttdeci">virtual void mediate()=0</div><div class="ttdoc">pure virtual mediate methode</div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a3c7679cefd8f5ef8e208224745f8aac4"><div class="ttname"><a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator::result_vector_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdoc">Result_vector of base positions linked to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00048">abstract_mediator.h:48</a></div></div>
+<div class="ttc" id="astructwing__BP_html"><div class="ttname"><a href="structwing__BP.html">wing_BP</a></div><div class="ttdoc">Blueprint of panel data.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00024">abstract_mediator.h:24</a></div></div>
+<div class="ttc" id="aabstract__robot__decorator_8h_html"><div class="ttname"><a href="abstract__robot__decorator_8h.html">abstract_robot_decorator.h</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a72eec7045a30201e1b8e2efa3f3c0855"><div class="ttname"><a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">AbstractMediator::wingReader</a></div><div class="ttdeci">WingReader * wingReader()</div><div class="ttdoc">Get Wing_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00124">abstract_mediator.h:124</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a9b24efa2ec432e60f25c6a54970775fc"><div class="ttname"><a href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">AbstractMediator::wings_</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > wings_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00049">abstract_mediator.h:49</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aceti__robot_8h_html"><div class="ttname"><a href="ceti__robot_8h.html">ceti_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_ab33c369fe48c88295f9cbdcabe68ddad"><div class="ttname"><a href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator::connectRobots</a></div><div class="ttdeci">virtual void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot)=0</div><div class="ttdoc">pure virtual robot connecting methode</div></div>
+<div class="ttc" id="astructwing__BP_html_a294e3a77e24dec89f73422224f4091c9"><div class="ttname"><a href="structwing__BP.html#a294e3a77e24dec89f73422224f4091c9">wing_BP::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00025">abstract_mediator.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_af50d0f408fcef5404043ba49627b42a1"><div class="ttname"><a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator::AbstractMediator</a></div><div class="ttdeci">AbstractMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00003">abstract_mediator.cpp:3</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a2ddf9436b7443a7a45fb5b60a7c6ce2b"><div class="ttname"><a href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator::setPanel</a></div><div class="ttdeci">virtual void setPanel()=0</div><div class="ttdoc">pure virtual Sets panels for robots</div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a93c390745716f6a5b2920c8ffaa58b3d"><div class="ttname"><a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">AbstractMediator::dirname_</a></div><div class="ttdeci">std::string dirname_</div><div class="ttdoc">Dirname of the reference protobuff.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00050">abstract_mediator.h:50</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a0158088e933cb5031370809db6132d07"><div class="ttname"><a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">AbstractMediator::wings</a></div><div class="ttdeci">std::map< const std::string, std::vector< std::unique_ptr< AbstractRobotElement > > > & wings()</div><div class="ttdoc">Get wings.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00073">abstract_mediator.h:73</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a6caa36a0e7ca24bc97a9558cf46c72ad"><div class="ttname"><a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div>
+<div class="ttc" id="astructwing__BP_html_ad3cb0666a2473c6a2c5397f393812f56"><div class="ttname"><a href="structwing__BP.html#ad3cb0666a2473c6a2c5397f393812f56">wing_BP::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00027">abstract_mediator.h:27</a></div></div>
+<div class="ttc" id="astructprotobuf__entry_html"><div class="ttname"><a href="structprotobuf__entry.html">protobuf_entry</a></div><div class="ttdoc">Protobuf entry.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00031">abstract_mediator.h:31</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a6b7c63d2283d9a34cfe53c75bc6294e8"><div class="ttname"><a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">AbstractMediator::robots</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > & robots()</div><div class="ttdoc">Get robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00085">abstract_mediator.h:85</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a2fb941ec8ffe4da38ace5e4d504268f5"><div class="ttname"><a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">AbstractMediator::robot_reader_</a></div><div class="ttdeci">std::unique_ptr< RobotReader > robot_reader_</div><div class="ttdoc">Robot_reader which collects robot poses.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00053">abstract_mediator.h:53</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00010">abstract_mediator.cpp:10</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_abfeda444314311dd931237ff8eea943d"><div class="ttname"><a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator::resultVector</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > & resultVector()</div><div class="ttdoc">Get result_vector.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00079">abstract_mediator.h:79</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div>
+<div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div>
+<div class="ttc" id="arobot__reader_8h_html"><div class="ttname"><a href="robot__reader_8h.html">robot_reader.h</a></div></div>
+<div class="ttc" id="ats__reader_8h_html"><div class="ttname"><a href="ts__reader_8h.html">ts_reader.h</a></div></div>
+<div class="ttc" id="astructprotobuf__entry_html_a58a9c2211f7cbe40929516dbbed73058"><div class="ttname"><a href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">protobuf_entry::wing_config_</a></div><div class="ttdeci">int wing_config_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00034">abstract_mediator.h:34</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a0d4451e49f9e7953ca5e32126b597619"><div class="ttname"><a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">AbstractMediator::setResultVector</a></div><div class="ttdeci">void setResultVector(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</div><div class="ttdoc">Set result vector.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00067">abstract_mediator.h:67</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a2e0808dd0543e36562ff7074241a37c6"><div class="ttname"><a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">AbstractMediator::dirname</a></div><div class="ttdeci">std::string & dirname()</div><div class="ttdoc">Get dirname.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00097">abstract_mediator.h:97</a></div></div>
+<div class="ttc" id="aclassWingReader_html"><div class="ttname"><a href="classWingReader.html">WingReader</a></div><div class="ttdoc">Wing reader.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00014">wing_reader.h:14</a></div></div>
+<div class="ttc" id="aclassRobotReader_html"><div class="ttname"><a href="classRobotReader.html">RobotReader</a></div><div class="ttdoc">Robot reader.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00015">robot_reader.h:15</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a14fb98326c6c14fceb9b7b4749490afd"><div class="ttname"><a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator::setDirname</a></div><div class="ttdeci">void setDirname(std::string &dirn)</div><div class="ttdoc">Set dirname.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00091">abstract_mediator.h:91</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_ad5f1373899bb6bec89a51e3295bac45e"><div class="ttname"><a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">AbstractMediator::robotReader</a></div><div class="ttdeci">RobotReader * robotReader()</div><div class="ttdoc">Get Robot_reader.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00130">abstract_mediator.h:130</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_ac6e8ea822143df20ec6ecec2ff1603db"><div class="ttname"><a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator::relative_bounds_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< tf2::Transform > > > relative_bounds_</div><div class="ttdoc">total bound a workspace</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00046">abstract_mediator.h:46</a></div></div>
+<div class="ttc" id="astructprotobuf__entry_html_ac556a276e962d022fd32dcbdd50cd0c8"><div class="ttname"><a href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">protobuf_entry::tf_</a></div><div class="ttdeci">tf2::Transform tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00033">abstract_mediator.h:33</a></div></div>
+<div class="ttc" id="aabstract__robot__element_8h_html"><div class="ttname"><a href="abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a4786aa6941e2776476ca71829d771faa"><div class="ttname"><a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< TSReader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00044">abstract_mediator.h:44</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__param__reader_8cpp.html b/doc/html/abstract__param__reader_8cpp.html
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+++ b/doc/html/abstract__param__reader_8cpp.html
@@ -51,7 +51,7 @@ Include dependency graph for abstract_param_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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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>
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+<div class="line"><a name="l00003"></a><span class="lineno"><a class="line" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9"> 3</a></span> <span class="keywordtype">float</span> <a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a>(XmlRpc::XmlRpcValue& val){</div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  <span class="keywordtype">float</span> t = 0;</div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  <span class="keywordflow">try</span>{</div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <span class="keywordflow">switch</span> (val.getType()){</div>
@@ -50,13 +50,13 @@ $(function() {
<div class="line"><a name="l00023"></a><span class="lineno"> 23</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>
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+<div class="ttc" id="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/abstract__param__reader_8h.html b/doc/html/abstract__param__reader_8h.html
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<div class="title">abstract_param_reader.h File Reference</div> </div>
</div><!--header-->
<div class="contents">
-<div class="textblock"><code>#include "ros/ros.h"</code><br />
+<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 />
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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-<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract ROS-Param reader class. <a href="classAbstract__param__reader.html#details">More...</a><br /></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract ROS-Param reader class. <a href="classAbstractParamReader.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="structjob__data.html">job_data</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Job data. <a href="structjob__data.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="structobject__data.html">object_data</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Object data. <a href="structobject__data.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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@@ -116,7 +113,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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@@ -28,7 +28,7 @@ $(function() {
<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="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>
@@ -37,49 +37,49 @@ $(function() {
<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>
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-<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>
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+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308"> 15</a></span>  std::string <a class="code" href="structobject__data.html#a048099bcb764a005e050ef51bdb6b308">name_</a>;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d"> 16</a></span>  tf2::Transform <a class="code" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">pose_</a>;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258"> 17</a></span>  tf2::Vector3 <a class="code" href="structobject__data.html#a1470f3d835395fb7c192273559b8a258">size_</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>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structjob__data.html"> 21</a></span> <span class="keyword">struct </span><a class="code" href="structjob__data.html">job_data</a> {</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0"> 22</a></span>  std::vector<tf2::Transform> <a class="code" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">jobs_</a>;</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> };</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
-<div class="line"><a name="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="l00026"></a><span class="lineno"> 26</span>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstractParamReader.html"> 29</a></span> <span class="keyword">class </span><a class="code" href="classAbstractParamReader.html">AbstractParamReader</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="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32"> 31</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">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"> 33</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c"> 38</a></span>  <a class="code" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a>(d){}</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>
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-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordtype">float</span> <a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue& val);</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">read</a>()=0;</div>
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</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>
+<div class="ttc" id="aclassAbstractParamReader_html_a76f530a69e2f976e7fb9551163764a3c"><div class="ttname"><a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader::AbstractParamReader</a></div><div class="ttdeci">AbstractParamReader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">AbstractParamReader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00038">abstract_param_reader.h:38</a></div></div>
+<div class="ttc" id="astructjob__data_html_a9995696b3e7a24afb51e67a3cc8616d0"><div class="ttname"><a href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data::jobs_</a></div><div class="ttdeci">std::vector< tf2::Transform > jobs_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00022">abstract_param_reader.h:22</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="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#l00016">abstract_param_reader.h:16</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#l00015">abstract_param_reader.h:15</a></div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="aclassAbstractParamReader_html_ae33429655685fb29175563f381330148"><div class="ttname"><a href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader::read</a></div><div class="ttdeci">virtual void read()=0</div><div class="ttdoc">pure virtual read methode</div></div>
+<div class="ttc" id="astructjob__data_html"><div class="ttname"><a href="structjob__data.html">job_data</a></div><div class="ttdoc">Job data.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00021">abstract_param_reader.h:21</a></div></div>
+<div class="ttc" id="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#l00017">abstract_param_reader.h:17</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/abstract__robot_8cpp.html b/doc/html/abstract__robot_8cpp.html
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--- a/doc/html/abstract__robot_8cpp.html
+++ b/doc/html/abstract__robot_8cpp.html
@@ -25,17 +25,18 @@ $(function() {
<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 class="textblock"><code>#include "<a class="el" href="abstract__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>
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</map>
</div>
</div>
@@ -46,7 +47,7 @@ Include dependency graph for abstract_robot.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/abstract__robot_8cpp__incl.map b/doc/html/abstract__robot_8cpp__incl.map
index 45df946e146659f55970127f45482138aea2a059..2229a902a57d141e95b9bd9a2fec240edf674567 100644
--- a/doc/html/abstract__robot_8cpp__incl.map
+++ b/doc/html/abstract__robot_8cpp__incl.map
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--- a/doc/html/abstract__robot_8cpp__incl.md5
+++ b/doc/html/abstract__robot_8cpp__incl.md5
@@ -1 +1 @@
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+fec556ccd4b6525161553e2331295cb0
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diff --git a/doc/html/abstract__robot_8cpp__incl.png b/doc/html/abstract__robot_8cpp__incl.png
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diff --git a/doc/html/abstract__robot_8cpp_source.html b/doc/html/abstract__robot_8cpp_source.html
index 642ad2a2202dc174752c978aae33198c05847b32..6683b56c996ac70cfd3a4e905ecff5dbc8b8c4f1 100644
--- a/doc/html/abstract__robot_8cpp_source.html
+++ b/doc/html/abstract__robot_8cpp_source.html
@@ -25,48 +25,48 @@ $(function() {
<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>
+<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="abstract__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="l00004"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c"> 4</a></span> <a class="code" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot::AbstractRobot</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="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a>= tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.22f, 0, <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">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="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( <a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getX()*0.5f, <a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getY()*0.5f, <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getX()*0.5f, <a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getY()*0.5f, <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-<a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getX()*0.5f, -<a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getY()*0.5f, <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3( <a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getX()*0.5f, -<a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>.getY()*0.5f, <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">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="l00015"></a><span class="lineno"> 15</span>  <span class="comment">// default root</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.1f, 0.1f, 0))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.1f, 0.1f, 0))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.1f, -0.1f, 0)));</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.1f, -0.1f, 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="l00022"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1"> 22</a></span> <span class="keywordtype">float</span> <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">AbstractRobot::areaCalculation</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>
+<div class="ttc" id="aclassAbstractRobot_html_ae9767037bd216136e3a8619061d6784c"><div class="ttname"><a href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot::AbstractRobot</a></div><div class="ttdeci">AbstractRobot(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8cpp_source.html#l00004">abstract_robot.cpp:4</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a7456945dfc21ee6cc53bd05c932d95b1"><div class="ttname"><a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">AbstractRobot::areaCalculation</a></div><div class="ttdeci">float areaCalculation(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="aclassAbstractRobot_html_af7a274dc076263e08fd9830b3b5861ae"><div class="ttname"><a href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">AbstractRobot::tf</a></div><div class="ttdeci">virtual tf2::Transform & tf()=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a6e3c9f8635200012425072be65633a4e"><div class="ttname"><a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">AbstractRobot::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="abstract__robot_8h_source.html#l00031">abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a2c8771686cd69c4986feea6e6fdd9e76"><div class="ttname"><a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">AbstractRobot::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="abstract__robot_8h_source.html#l00030">abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_ab91d24aacd1816d82c7fe59fde1daaae"><div class="ttname"><a href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a13f598496fdae9b2f881a494d4737fc4"><div class="ttname"><a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">AbstractRobot::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="abstract__robot_8h_source.html#l00032">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/robot_2abstract__robot_8h.html b/doc/html/abstract__robot_8h.html
similarity index 50%
rename from doc/html/robot_2abstract__robot_8h.html
rename to doc/html/abstract__robot_8h.html
index 611e91c933ba6049bec4da7bade321b1ee68c5c8..4ce73d80dfebd006d7d9dcf029f2fa035fb07e77 100644
--- a/doc/html/robot_2abstract__robot_8h.html
+++ b/doc/html/abstract__robot_8h.html
@@ -25,78 +25,80 @@ $(function() {
<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 class="title">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 />
+<code>#include <bitset></code><br />
+<code>#include "<a class="el" href="abstract__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>
+Include dependency graph for abstract_robot.h:</div>
<div class="dyncontent">
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-<p><a href="robot_2abstract__robot_8h_source.html">Go to the source code of this file.</a></p>
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<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot implementation. <a href="classAbstractRobot.html#details">More...</a><br /></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>
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-  <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,
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+  <a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,
+<a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,
+<a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,
+<a class="el" href="abstract__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
+  <a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,
+<a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,
+<a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,
+<a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 0
<br />
}</td></tr>
<tr class="separator:a6772e3f5ff2cf1ed8a24b23c0992dad1"><td class="memSeparator" colspan="2"> </td></tr>
@@ -109,7 +111,7 @@ Enumerations</h2></td></tr>
<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>
+ <td class="memname">enum <a class="el" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></td>
</tr>
</table>
</div><div class="memdoc">
@@ -122,17 +124,9 @@ Enumerations</h2></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>
+<p class="definition">Definition at line <a class="el" href="abstract__robot_8h_source.html#l00010">10</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
</div>
</div>
@@ -142,7 +136,7 @@ Enumerations</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</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>
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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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">abstract_robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__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> <span class="preprocessor">#include <bitset></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__robot__element_8h.html">robot_element/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="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1"> 10</a></span> <span class="keyword">enum</span> <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>{</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"> 11</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a> = 7,</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"> 12</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a> = 6,</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"> 13</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a> = 5,</div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"> 14</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a> = 4,</div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"> 15</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,</div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"> 16</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a> = 2,</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"> 17</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a> = 1,</div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"> 18</a></span>  <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a> = 0</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> };</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAbstractRobot.html"> 25</a></span> <span class="keyword">class </span><a class="code" href="classAbstractRobot.html">AbstractRobot</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b"> 27</a></span>  std::string <a class="code" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a>; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9"> 28</a></span>  tf2::Vector3 <a class="code" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a>; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21"> 29</a></span>  tf2::Transform <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a>; </div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76"> 30</a></span>  tf2::Transform <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a>; </div>
+<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e"> 31</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>; </div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4"> 32</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</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="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string <a class="code" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>);</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">virtual</span> std::string& <a class="code" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>()=0; </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">virtual</span> tf2::Transform& <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>()=0; </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">virtual</span> tf2::Vector3& <a class="code" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>()=0; </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">virtual</span> tf2::Transform& <a class="code" href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">rootTf</a>()=0; </div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">virtual</span> std::vector<tf2::Transform>& <a class="code" href="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">bounds</a>()=0; </div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">virtual</span> std::vector<tf2::Transform>& <a class="code" href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">robotRootBounds</a>()=0; </div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">checkSingleObjectCollision</a>(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) =0;</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"><a class="line" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86"> 47</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a>(tf2::Vector3& s) { <a class="code" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a> = s;}</div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b"> 48</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform& t) { <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> = t;}</div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668"> 49</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">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="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a>= <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a>* t;}</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7"> 50</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t) {tf2::Transform <a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>(tf2::Quaternion(0,0,0,1), t); <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a>*=<a class="code" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>;}</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">notify</a>()= 0;</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="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">float</span> <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C);</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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstractRobot_html_a0b667805c8fb3f707eb68889b45c6263"><div class="ttname"><a href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">AbstractRobot::notify</a></div><div class="ttdeci">virtual void notify()=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_ae9767037bd216136e3a8619061d6784c"><div class="ttname"><a href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot::AbstractRobot</a></div><div class="ttdeci">AbstractRobot(std::string name, tf2::Transform tf, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8cpp_source.html#l00004">abstract_robot.cpp:4</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af8904b397a26e115a98f7278a5ba5458">RML</a></div><div class="ttdeci">@ RML</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00011">abstract_robot.h:11</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a1c60ec2481b135b4897896d0a6b4ef47"><div class="ttname"><a href="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">AbstractRobot::bounds</a></div><div class="ttdeci">virtual std::vector< tf2::Transform > & bounds()=0</div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a537d7ca2b28b678b16a626e291fbc086">R_L</a></div><div class="ttdeci">@ R_L</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00013">abstract_robot.h:13</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a069e32a8a187a7a00ded0606dbf4e342">_M_</a></div><div class="ttdeci">@ _M_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00016">abstract_robot.h:16</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_af3d61b41f607cd3092a6bad7285cb668"><div class="ttname"><a href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">AbstractRobot::rotate</a></div><div class="ttdeci">void rotate(float deg)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00049">abstract_robot.h:49</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00010">abstract_robot.h:10</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a53decc994ea4df246c87cedf1619f58b"><div class="ttname"><a href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">AbstractRobot::setTf</a></div><div class="ttdeci">void setTf(tf2::Transform &t)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00048">abstract_robot.h:48</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a7456945dfc21ee6cc53bd05c932d95b1"><div class="ttname"><a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">AbstractRobot::areaCalculation</a></div><div class="ttdeci">float areaCalculation(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="aclassAbstractRobot_html_af7a274dc076263e08fd9830b3b5861ae"><div class="ttname"><a href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">AbstractRobot::tf</a></div><div class="ttdeci">virtual tf2::Transform & tf()=0</div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1a019221cda1650589b0fbe492a53628d5">___</a></div><div class="ttdeci">@ ___</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00018">abstract_robot.h:18</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a6e3c9f8635200012425072be65633a4e"><div class="ttname"><a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">AbstractRobot::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="abstract__robot_8h_source.html#l00031">abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_aa90ce66c7d59030d1122c70b5de950e6"><div class="ttname"><a href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">AbstractRobot::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_acb49db9acf6f136df2ffdc17758d61a9"><div class="ttname"><a href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">AbstractRobot::rootTf</a></div><div class="ttdeci">virtual tf2::Transform & rootTf()=0</div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a></div><div class="ttdeci">@ _ML</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00015">abstract_robot.h:15</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a2c8771686cd69c4986feea6e6fdd9e76"><div class="ttname"><a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">AbstractRobot::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="abstract__robot_8h_source.html#l00030">abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html"><div class="ttname"><a href="classAbstractRobot.html">AbstractRobot</a></div><div class="ttdoc">Abstract Robot implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00025">abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_ab91d24aacd1816d82c7fe59fde1daaae"><div class="ttname"><a href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_ab2f383d6e9fccdb649441ac67f457f21"><div class="ttname"><a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">AbstractRobot::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="abstract__robot_8h_source.html#l00029">abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1aecd32f0a7d1bb5c30c5a5e6b2217a265">RM_</a></div><div class="ttdeci">@ RM_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00012">abstract_robot.h:12</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1af7b4b527e41688f2ede58378039f20a7">R__</a></div><div class="ttdeci">@ R__</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00014">abstract_robot.h:14</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a780bb60cd0c8b36d5a687656e06d75f7"><div class="ttname"><a href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">AbstractRobot::translate</a></div><div class="ttdeci">void translate(tf2::Vector3 t)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00050">abstract_robot.h:50</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1ac855ec519bd6bd670ddac0323c49dd52">__L</a></div><div class="ttdeci">@ __L</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00017">abstract_robot.h:17</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a005c48097a8c55d5cd13bd9cbd1f2a86"><div class="ttname"><a href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot::size</a></div><div class="ttdeci">void size(tf2::Vector3 &s)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00047">abstract_robot.h:47</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a8ffaf43fd68ff397dc4e3768cf6ebe67"><div class="ttname"><a href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">AbstractRobot::checkSingleObjectCollision</a></div><div class="ttdeci">virtual bool checkSingleObjectCollision(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask)=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a4c67a63e89e2e2fb7915adfc44e8930b"><div class="ttname"><a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">AbstractRobot::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="abstract__robot_8h_source.html#l00027">abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aabstract__robot__element_8h_html"><div class="ttname"><a href="abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a93f1c6a952dec22637da68b4567d1b67"><div class="ttname"><a href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">AbstractRobot::robotRootBounds</a></div><div class="ttdeci">virtual std::vector< tf2::Transform > & robotRootBounds()=0</div></div>
+<div class="ttc" id="aclassAbstractRobot_html_af9c9ba20329199e5d1722a681f2087e9"><div class="ttname"><a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">AbstractRobot::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="abstract__robot_8h_source.html#l00028">abstract_robot.h:28</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a13f598496fdae9b2f881a494d4737fc4"><div class="ttname"><a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">AbstractRobot::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="abstract__robot_8h_source.html#l00032">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 Mon Mar 27 2023 19:07:14</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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@@ -27,8 +27,7 @@ $(function() {
<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 />
+<div class="textblock"><code>#include <ros/ros.h></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 />
@@ -37,24 +36,26 @@ $(function() {
<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 />
+<code>#include "<a class="el" href="abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
</div><div class="textblock"><div class="dynheader">
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Classes</h2></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot Decorator. <a href="classAbstractRobotDecorator.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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@@ -86,7 +97,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
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<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>
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-<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="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_pipeline/planning_pipeline.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
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+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="abstract__robot_8h.html">robot/abstract_robot.h</a>"</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </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="l00019"></a><span class="lineno"> 19</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html"> 22</a></span> <span class="keyword">class </span><a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractRobot.html">AbstractRobot</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="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5"> 24</a></span>  std::unique_ptr<AbstractRobot> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>; </div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b"> 25</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a>; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d"> 26</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</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>  <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="l00028"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a"> 28</a></span>  std::map<std::string, std::string> <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5"> 29</a></span>  std::shared_ptr<MapGenerator> <a class="code" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a>; </div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9"> 30</a></span>  std::string <a class="code" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</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>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12"> 39</a></span>  <a class="code" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>(std::unique_ptr<AbstractRobot> <a class="code" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>) </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  : <a class="code" href="classAbstractRobot.html">AbstractRobot</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="l00041"></a><span class="lineno"> 41</span>  , <a class="code" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a>(nullptr)</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  , <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a>(nullptr)</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  , <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>(std::move(<a class="code" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>))</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  , <a class="code" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a>(<span class="stringliteral">"*._arm([0-9]+)"</span>){};</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97"> 47</a></span>  std::string& <a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->name();}</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f"> 50</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a>(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask)<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->checkSingleObjectCollision(obj, robot_element, panel_mask);}</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="l00053"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566"> 53</a></span>  tf2::Transform& <a class="code" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->tf();}</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 class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f"> 56</a></span>  tf2::Vector3& <a class="code" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->size();}</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203"> 59</a></span>  tf2::Transform& <a class="code" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->rootTf();}</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816"> 62</a></span>  std::vector<tf2::Transform>& <a class="code" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->bounds();}</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c"> 65</a></span>  std::vector<tf2::Transform>& <a class="code" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a>()<span class="keyword"> override </span>{ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds();} </div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7"> 68</a></span>  <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a>()<span class="keyword"> override </span>{<a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->notify();}</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="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe"> 74</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstractRobot.html">AbstractRobot</a>* <a class="code" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>.get();}</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>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">spezifieRootBounds</a>()=0;</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">spezifieRobotGroups</a>()=0;</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751"> 82</a></span>  <span class="keyword">inline</span> std::string& <a class="code" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a>;}</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="keyword">inline</span> std::map<std::string, std::string>& map(){<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>;} </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="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5"> 87</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a>;}</div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18"> 88</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a>() {<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a>;}</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> <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>
-<div class="ttc" id="aclassAbstract__robot__decorator_html_ac4f20979cd3cdb659a380511ef509b90"><div class="ttname"><a href="classAbstract__robot__decorator.html#ac4f20979cd3cdb659a380511ef509b90">Abstract_robot_decorator::spezifie_robot_groups</a></div><div class="ttdeci">virtual void spezifie_robot_groups()=0</div></div>
-<div class="ttc" id="aclassAbstract__robot__decorator_html_a7fdba4f8a000b15b7a367066b0d79910"><div class="ttname"><a href="classAbstract__robot__decorator.html#a7fdba4f8a000b15b7a367066b0d79910">Abstract_robot_decorator::root_tf</a></div><div class="ttdeci">tf2::Transform & root_tf() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00038">abstract_robot_decorator.h:38</a></div></div>
-<div class="ttc" id="aclassAbstract__robot__decorator_html_a625e198b41f5965ac3fca6673d4039a7"><div class="ttname"><a href="classAbstract__robot__decorator.html#a625e198b41f5965ac3fca6673d4039a7">Abstract_robot_decorator::grasp_map_generator_</a></div><div class="ttdeci">std::shared_ptr< MapGenerator > grasp_map_generator_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00025">abstract_robot_decorator.h:25</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__decorator_html_a5a2e4b619b74d083b4497af183948950"><div class="ttname"><a href="classAbstract__robot__decorator.html#a5a2e4b619b74d083b4497af183948950">Abstract_robot_decorator::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00036">abstract_robot_decorator.h:36</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a53b26570fb8847363d0c5398eb633ff7"><div class="ttname"><a href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">AbstractRobotDecorator::notify</a></div><div class="ttdeci">void notify() override</div><div class="ttdoc">Redirects notify call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00068">abstract_robot_decorator.h:68</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_ab13a5c4b37f6a90b723065e01d056e12"><div class="ttname"><a href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator::AbstractRobotDecorator</a></div><div class="ttdeci">AbstractRobotDecorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">Abstract Robot Decorator.</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="aclassAbstractRobotDecorator_html_a1f56056cdf8f7213e90900768b66761d"><div class="ttname"><a href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">AbstractRobotDecorator::spezifieRootBounds</a></div><div class="ttdeci">virtual void spezifieRootBounds()=0</div><div class="ttdoc">Pure virtual function to specify root bounds.</div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a300f221528cb239f0125e66f6a3e67d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">AbstractRobotDecorator::next_</a></div><div class="ttdeci">std::unique_ptr< AbstractRobot > next_</div><div class="ttdoc">Abstract Robot which is mimiced.</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="aclassAbstractRobotDecorator_html_a66c56af565343dcabfdc2e200010501f"><div class="ttname"><a href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">AbstractRobotDecorator::checkSingleObjectCollision</a></div><div class="ttdeci">bool checkSingleObjectCollision(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</div><div class="ttdoc">Redirects check_single_object_collision call.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00050">abstract_robot_decorator.h:50</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a06a1ef5229d1524c4cb427520d1edc3a"><div class="ttname"><a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">AbstractRobotDecorator::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdoc">//!< Mapping of specific task constructor variables</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00028">abstract_robot_decorator.h:28</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a866eacc1aa89353a71e021eabf137203"><div class="ttname"><a href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">AbstractRobotDecorator::rootTf</a></div><div class="ttdeci">tf2::Transform & rootTf() override</div><div class="ttdoc">Redirects root_tf call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00059">abstract_robot_decorator.h:59</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a31223d85225bac9603e2ccd06578fe18"><div class="ttname"><a href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">AbstractRobotDecorator::mgiHand</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgiHand()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00088">abstract_robot_decorator.h:88</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_aae837cb13e9d38efb346d91dd2bf4566"><div class="ttname"><a href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">AbstractRobotDecorator::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdoc">Redirects tf call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00053">abstract_robot_decorator.h:53</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a1f0ecb1398c2e5370176c3ab3f479fad"><div class="ttname"><a href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">AbstractRobotDecorator::spezifieRobotGroups</a></div><div class="ttdeci">virtual void spezifieRobotGroups()=0</div><div class="ttdoc">Pure virtual function to specify root groupts.</div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a7eb1074e90af32a2c2fa496b58a1f751"><div class="ttname"><a href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">AbstractRobotDecorator::pattern</a></div><div class="ttdeci">std::string & pattern()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00082">abstract_robot_decorator.h:82</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_ac3727598e76fec150cce2de06a59782b"><div class="ttname"><a href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">AbstractRobotDecorator::mgi_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_</div><div class="ttdoc">MoveGroup Interface for the robots arm.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00025">abstract_robot_decorator.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_aceb71e9a949ed0b7693dbbc12da022b9"><div class="ttname"><a href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">AbstractRobotDecorator::pattern_</a></div><div class="ttdeci">std::string pattern_</div><div class="ttdoc">Regexpattern.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00030">abstract_robot_decorator.h:30</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html"><div class="ttname"><a href="classAbstractRobot.html">AbstractRobot</a></div><div class="ttdoc">Abstract Robot implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00025">abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a70fe6a61069c851f1adcd1f18e2f8a4d"><div class="ttname"><a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">AbstractRobotDecorator::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</div><div class="ttdoc">MoveGroup Interface for the Robots manipulator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00026">abstract_robot_decorator.h:26</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a8da3e89f0a42ec0956a5adc80d2b8816"><div class="ttname"><a href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">AbstractRobotDecorator::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdoc">Redirects bounds call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00062">abstract_robot_decorator.h:62</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_af3b03bd96b7f53df1a4a76cf980429fe"><div class="ttname"><a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">AbstractRobotDecorator::next</a></div><div class="ttdeci">AbstractRobot * next()</div><div class="ttdoc">Call of mimiced objects.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00074">abstract_robot_decorator.h:74</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_aa6ac3b0845c32dde50a90655ec0a6c97"><div class="ttname"><a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdoc">Redirects name call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00047">abstract_robot_decorator.h:47</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_afe44b1b1711fa9a0ed97b7237f7cb6d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">AbstractRobotDecorator::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00087">abstract_robot_decorator.h:87</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_ad8bc2fc3ca0243df81f065f352fa8c0c"><div class="ttname"><a href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">AbstractRobotDecorator::robotRootBounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & robotRootBounds() override</div><div class="ttdoc">Redirects robot_root_bounds call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00065">abstract_robot_decorator.h:65</a></div></div>
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+<div class="title">abstract_robot_element.h File Reference</div> </div>
</div><!--header-->
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Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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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"> 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"><a class="line" href="classAbstractRobotElement.html"> 7</a></span> <span class="keyword">class </span><a class="code" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76"> 9</a></span>  std::string <a class="code" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f"> 10</a></span>  tf2::Transform <a class="code" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a>;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9"> 11</a></span>  tf2::Transform <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52"> 12</a></span>  tf2::Vector3 <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e"> 14</a></span>  std::vector<tf2::Transform> <a class="code" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">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="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73"> 17</a></span>  <a class="code" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string <a class="code" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="code" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>) </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  : <a class="code" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a>(tf)</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  , <a class="code" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a>(<a class="code" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>)</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  , <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>(<a class="code" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  , <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">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="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7"> 24</a></span>  <span class="keyword">inline</span> tf2::Transform& <a class="code" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>(){ <span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a>;}</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e"> 25</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf) { <a class="code" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">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="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7"> 27</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform& tf) {<a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>= tf * <a class="code" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a>;}</div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5"> 28</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform& tf) { <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">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="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">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="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">worldTf</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="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">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="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">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="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">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="aclassAbstractRobotElement_html_a48a10e0425bb56cabf0dad275976bb76"><div class="ttname"><a href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">AbstractRobotElement::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00009">abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html"><div class="ttname"><a href="classAbstractRobotElement.html">AbstractRobotElement</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00007">abstract_robot_element.h:7</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a66a61ffcb4096fbf1a964b035a38798f"><div class="ttname"><a href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">AbstractRobotElement::relative_tf_</a></div><div class="ttdeci">tf2::Transform relative_tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00010">abstract_robot_element.h:10</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a4e3e116bb96a12ad44e0fa7464213c7e"><div class="ttname"><a href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">AbstractRobotElement::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00014">abstract_robot_element.h:14</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a94e9c5142e91f262fe6cd223f8b6c110"><div class="ttname"><a href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">AbstractRobotElement::size</a></div><div class="ttdeci">virtual tf2::Vector3 & size()=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_aa5f10ad3b5236b38209e94ed944e40d5"><div class="ttname"><a href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">AbstractRobotElement::setWorldTf</a></div><div class="ttdeci">void setWorldTf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00028">abstract_robot_element.h:28</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a1304c7308731251e789ccfb9368a61f9"><div class="ttname"><a href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">AbstractRobotElement::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00011">abstract_robot_element.h:11</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a7aae0717ac2909a70d039164a29ba754"><div class="ttname"><a href="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">AbstractRobotElement::worldTf</a></div><div class="ttdeci">virtual tf2::Transform & worldTf()=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_aade8e84adb9ccb5feb0bd55feba55f73"><div class="ttname"><a href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement::AbstractRobotElement</a></div><div class="ttdeci">AbstractRobotElement(tf2::Transform tf, std::string name, tf2::Vector3 size)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00017">abstract_robot_element.h:17</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a43dc533037cf056a95933c2a3230292e"><div class="ttname"><a href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">AbstractRobotElement::setRelativeTf</a></div><div class="ttdeci">void setRelativeTf(tf2::Transform tf)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00025">abstract_robot_element.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a4896ae0424f9bee2c63a6eb65130e8c7"><div class="ttname"><a href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">AbstractRobotElement::relativeTf</a></div><div class="ttdeci">tf2::Transform & relativeTf()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00024">abstract_robot_element.h:24</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a41e8e3dd3386f5716db3c81b747a3ac7"><div class="ttname"><a href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">AbstractRobotElement::calcWorldTf</a></div><div class="ttdeci">void calcWorldTf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00027">abstract_robot_element.h:27</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a407a6970d33242af3fbf5d7f3e1c9aab"><div class="ttname"><a href="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">AbstractRobotElement::update</a></div><div class="ttdeci">virtual void update(tf2::Transform &tf)=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a54227cc56d5d9fde531d32cf9d70ba75"><div class="ttname"><a href="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">AbstractRobotElement::bounds</a></div><div class="ttdeci">virtual std::vector< tf2::Transform > & bounds()=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_a9b0d09ec660f34e8bd4e58e3623f9b28"><div class="ttname"><a href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">AbstractRobotElement::name</a></div><div class="ttdeci">virtual std::string & name()=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_ad9e7fd0d535253799855ad42f9ed7a52"><div class="ttname"><a href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00012">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/abstract__robot__element__decorator_8cpp.html b/doc/html/abstract__robot__element__decorator_8cpp.html
index 98f0ae35966f0a06b2e2f7f86a66b2a5080c6ff5..a1350db61f7396816774c5123792fc30c8e4bcc2 100644
--- a/doc/html/abstract__robot__element__decorator_8cpp.html
+++ b/doc/html/abstract__robot__element__decorator_8cpp.html
@@ -33,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/abstract__robot__element__decorator_8cpp_source.html b/doc/html/abstract__robot__element__decorator_8cpp_source.html
index 2942de4356dc8950eea43529ef4c3c56c096c9fb..a91564fa256b82f93bcbcec5a54edcf89e4ffb6c 100644
--- a/doc/html/abstract__robot__element__decorator_8cpp_source.html
+++ b/doc/html/abstract__robot__element__decorator_8cpp_source.html
@@ -31,7 +31,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h.html b/doc/html/abstract__robot__element__decorator_8h.html
similarity index 61%
rename from doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h.html
rename to doc/html/abstract__robot__element__decorator_8h.html
index 63c02ae12ebe397d1fb7d886babd43d539cf4839..9d79d1de287b35c63dfd54b5db471b500c395277 100644
--- a/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h.html
+++ b/doc/html/abstract__robot__element__decorator_8h.html
@@ -24,45 +24,50 @@ $(function() {
<div class="summary">
<a href="#nested-classes">Classes</a> </div>
<div class="headertitle">
-<div class="title">robot_element/decorators/abstract_robot_element_decorator.h File Reference</div> </div>
+<div class="title">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 />
+<code>#include "<a class="el" href="abstract__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>
+Include dependency graph for abstract_robot_element_decorator.h:</div>
<div class="dyncontent">
-<div class="center"><img src="robot__element_2decorators_2abstract__robot__element__decorator_8h__incl.png" border="0" usemap="#abstract__robot__element__decorator_8h" alt=""/></div>
+<div class="center"><img src="abstract__robot__element__decorator_8h__incl.png" border="0" usemap="#abstract__robot__element__decorator_8h" alt=""/></div>
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This graph shows which files directly or indirectly include this file:</div>
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+<div class="center"><img src="abstract__robot__element__decorator_8h__dep__incl.png" border="0" usemap="#abstract__robot__element__decorator_8hdep" alt=""/></div>
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+<p><a href="abstract__robot__element__decorator_8h_source.html">Go to the source code of this file.</a></p>
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Classes</h2></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</div><!-- contents -->
@@ -71,7 +76,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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+<title>multi_cell_builder: abstract_robot_element_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_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">abstract_robot_element_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="abstract__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="abstract__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="classAbstractRobotElementDecorator.html"> 7</a></span> <span class="keyword">class </span><a class="code" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c"> 9</a></span>  std::shared_ptr<ros::NodeHandle> <a class="code" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">nh_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133"> 10</a></span>  std::unique_ptr<AbstractRobotElement> <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">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>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0"> 13</a></span>  <a class="code" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</a>(std::unique_ptr<AbstractRobotElement> <a class="code" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>) </div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  : <a class="code" href="classAbstractRobotElement.html">AbstractRobotElement</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="l00015"></a><span class="lineno"> 15</span>  , <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>(std::move(<a class="code" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">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="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415"> 17</a></span>  <span class="keyword">inline</span> <a class="code" href="classAbstractRobotElement.html">AbstractRobotElement</a>* <a class="code" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>(){<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>.get();}</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="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be"> 19</a></span>  std::vector<tf2::Transform>& <a class="code" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->bounds();}</div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b"> 20</a></span>  tf2::Transform& <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->worldTf();}</div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595"> 21</a></span>  std::string& <a class="code" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">name</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->name();}</div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2"> 22</a></span>  tf2::Vector3& <a class="code" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">size</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->size();}</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">inputFilter</a>()=0;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6"> 26</a></span>  <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">update</a>(tf2::Transform& tf)<span class="keyword"> override </span>{<a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->update(tf);}</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">outputFilter</a>()=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> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstractRobotElement_html"><div class="ttname"><a href="classAbstractRobotElement.html">AbstractRobotElement</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00007">abstract_robot_element.h:7</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_a2a417f0566c07714c2abe6586a4577be"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">AbstractRobotElementDecorator::bounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & bounds() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00019">abstract_robot_element_decorator.h:19</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_a0d900279c63e3724ab37fc24f2b4e2d2"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">AbstractRobotElementDecorator::outputFilter</a></div><div class="ttdeci">virtual void outputFilter()=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_add8fa935879fcd630178bff52ce534f6"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00026">abstract_robot_element_decorator.h:26</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_a3d5875ff7547ee6f7f54336241e5d6b0"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator::AbstractRobotElementDecorator</a></div><div class="ttdeci">AbstractRobotElementDecorator(std::unique_ptr< AbstractRobotElement > next)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00013">abstract_robot_element_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_ac3a5461c53642115aebbc1af97dbe595"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">AbstractRobotElementDecorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00021">abstract_robot_element_decorator.h:21</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_aca02840da41cc102e12ef7f3828cb04c"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">AbstractRobotElementDecorator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00009">abstract_robot_element_decorator.h:9</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_a8bc2e63afb97283b1ac48ae1f44218e2"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">AbstractRobotElementDecorator::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00022">abstract_robot_element_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_a94e56b3357613e351fef8d9c799f4a8b"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">AbstractRobotElementDecorator::worldTf</a></div><div class="ttdeci">tf2::Transform & worldTf() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00020">abstract_robot_element_decorator.h:20</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_a35fb8f9872a8fdaa558018c8e8b671e5"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">AbstractRobotElementDecorator::inputFilter</a></div><div class="ttdeci">virtual void inputFilter()=0</div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_ac9ffe909ec3948fa64571d7a9d1c9415"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">AbstractRobotElementDecorator::next</a></div><div class="ttdeci">AbstractRobotElement * next()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00017">abstract_robot_element_decorator.h:17</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html"><div class="ttname"><a href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00007">abstract_robot_element_decorator.h:7</a></div></div>
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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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
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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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-<div class="title">abstract_strategy.h</div> </div>
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-<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>
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-<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <ros/ros.h></span></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>
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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<div class="contents">
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<table class="directory">
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-<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>
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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>
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+<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="classAbstractRobot.html" target="_self">AbstractRobot</a></td><td class="desc">Abstract Robot implementation </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="classAbstractRobotDecorator.html" target="_self">AbstractRobotDecorator</a></td><td class="desc">Abstract Robot Decorator </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="classAbstractRobotElement.html" target="_self">AbstractRobotElement</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="classAbstractRobotElementDecorator.html" target="_self">AbstractRobotElementDecorator</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="classBaseCalculationMediator.html" target="_self">BaseCalculationMediator</a></td><td class="desc">Concrete Mediator </td></tr>
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+<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLogDecorator.html" target="_self">LogDecorator</a></td><td class="desc"></td></tr>
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+<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitMediator.html" target="_self">MoveitMediator</a></td><td class="desc">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a> </td></tr>
+<tr id="row_17_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitPanel.html" target="_self">MoveitPanel</a></td><td class="desc"></td></tr>
+<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc">Object data </td></tr>
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+<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classParallel__robot.html" target="_self">Parallel_robot</a></td><td class="desc"></td></tr>
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+<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRvizPanel.html" target="_self">RvizPanel</a></td><td class="desc"></td></tr>
+<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classSimpleBase.html" target="_self">SimpleBase</a></td><td class="desc"><a class="el" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a> </td></tr>
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+<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR10Decorator.html" target="_self">UR10Decorator</a></td><td class="desc">Panda Mediator </td></tr>
+<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR5Decorator.html" target="_self">UR5Decorator</a></td><td class="desc">UR5 Decorator </td></tr>
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</table>
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</div><!-- contents -->
@@ -73,7 +65,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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-<a href="http://wiki.ros.org/multi_cell_builder">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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-<title>multi_cell_builder: base_by_rotation.cpp Source File</title>
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-<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
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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-<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>
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-<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>
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-<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>
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-<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>
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-<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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@@ -78,7 +79,7 @@ Include dependency graph for base_calculation_mediator.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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@@ -27,515 +27,724 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989"> 3</a></span> <a class="code" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator::BaseCalculationMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : <a class="code" href="classAbstractMediator.html">AbstractMediator</a>(nh)</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  , pub_(std::make_unique<ros::Publisher>(nh->advertise< visualization_msgs::MarkerArray >(<span class="stringliteral">"visualization_marker_array"</span>, 1))){</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  <a class="code" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a>->getParam(<span class="stringliteral">"/resource_name"</span>, <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</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>  <span class="comment">// create new folder</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <span class="keywordflow">if</span>(std::filesystem::exists(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a>)) std::filesystem::remove_all(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a>);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  std::filesystem::create_directory(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span> + <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a>);</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  };</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c"> 13</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator::generateGrounds</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="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">for</span>(<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  std::vector<pcl::PointXYZ> ground_plane; </div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</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="l00018"></a><span class="lineno"> 18</span>  ground_plane.push_back(pcl::PointXYZ(x,y, s_r.second->tf().getOrigin().getZ() - 0.0025f));</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>  <a class="code" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">grounds_</a>.insert(std::pair<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>(s_r.first, ground_plane));</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="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a"> 25</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator::connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) {</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  ROS_INFO(<span class="stringliteral">"connecting %s..."</span>, robot->name().c_str());</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.insert_or_assign(robot->name(), std::move(robot)); </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="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa"> 30</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator::setPanel</a>(){</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">auto</span> wd = <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>->wingData();</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="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  ceti_bot-><a class="code" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(<span class="keyword">static_cast<</span><a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a><span class="keyword">></span>(wd.at(s_r.first).second));</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  ROS_INFO(<span class="stringliteral">"No mask data for %s"</span>, s_r.first.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>  }</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="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">if</span> (ceti_bot->observerMask()[j]){</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  tf2::Transform relative_tf = ceti_bot->tf().inverse() * wd.at(ceti_bot->name()).first[j].pose_;</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>  std::unique_ptr<AbstractRobotElement> panel = std::make_unique<RvizPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(std::move(panel));</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  panels[j] = std::move(log);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  } <span class="keywordflow">catch</span> (std::out_of_range &oor){</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  ROS_INFO(<span class="stringliteral">"OOR in set_panel"</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>  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  ceti_bot->setObservers(panels);</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>  </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c"> 63</a></span> <span class="keywordtype">bool</span> <a class="code" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">BaseCalculationMediator::checkCollision</a>(<span class="keyword">const</span> std::string& robot, std::bitset<3>& panel_mask, <span class="keywordtype">bool</span>& workload, std::vector<object_data>& ts){</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="comment">// Visualization workspace definition</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  std::string str;</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  std::stringstream ns;</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  ns << <span class="stringliteral">"Targets "</span> << robot;</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">// Get Robot reference by name </span></div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <a class="code" href="classCetiRobot.html">CetiRobot</a>* ceti1;</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(robot)->next());</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){}</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>  <span class="comment">// prepare map for workload check</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  std::map<std::string, int> workload_map;</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="keywordtype">bool</span> succ = <span class="keyword">true</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>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < ts.size(); i++){</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  marker.ns = ns.str();</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  marker.id = i;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  marker.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  marker.pose.position.x = ts[i].pose_.getOrigin().getX();</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  marker.pose.position.y = ts[i].pose_.getOrigin().getY();</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  marker.pose.position.z = ts[i].pose_.getOrigin().getZ();</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  marker.pose.orientation.x = ts[i].pose_.getRotation().getX();</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  marker.pose.orientation.y = ts[i].pose_.getRotation().getY();</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  marker.pose.orientation.z = ts[i].pose_.getRotation().getZ();</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  marker.pose.orientation.w = ts[i].pose_.getRotation().getW();</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  marker.scale.x = ts[i].size_.getX();</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  marker.scale.y = ts[i].size_.getY();</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  marker.scale.z = 0.1f;</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="comment">// ROS_INFO("%f, %f, %f", ts.at(robot)[i].pose_.getOrigin().getX(), ts.at(robot)[i].pose_.getOrigin().getY(), ts.at(robot)[i].pose_.getOrigin().getZ());</span></div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span>(ceti1-><a class="code" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">checkSingleObjectCollision</a>(ts[i].pose_, str, panel_mask)){</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">try</span> {</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  workload_map.at(str)++;</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor) {</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ROS_INFO(<span class="stringliteral">"Support surface not in map"</span>);</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  workload_map.insert(std::pair<std::string,int>(str,1));</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>  marker.color.r = 0;</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  marker.color.b = 0;</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  marker.color.a = 1;</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  marker.color.r = 1;</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  marker.color.g = 0;</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  marker.color.b = 0;</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  marker.color.a = 1.0;</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  succ = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">return</span> <span class="keyword">false</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>  ma.markers.push_back(marker);</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>  <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  workload = (workload_map.size() <= panel_mask.count()+1) && succ;</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">return</span> succ;</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> }</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920"> 130</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator::mediate</a>(){</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">generateGrounds</a>(tf2::Vector3(0,0,0), 3.0f, 0.1f);</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>  <span class="comment">// estimate workcells</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">auto</span> ts = <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>->dropOffData();</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  std::vector<std::vector<std::string>> wcs;</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"> for (auto it = ts.begin(); it != ts.end(); it++){</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"> std::vector<std::string> wc = {it->first};</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"> auto itt = std::next(it);</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> for(auto& v1: it->second){</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="comment"> ROS_INFO("penis");</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="comment"> for (; itt != ts.end(); itt++){</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"> for(auto& v2: itt->second){</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> if(tf2::tf2Distance2(v1.pose_.getOrigin(), v2.pose_.getOrigin())){</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="comment"> wc.push_back(itt->first);</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="comment"> break;</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"> }</span></div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> if(wc.size()>1) wcs.push_back(wc);</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="comment"> }</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>  </div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="comment">/* wcs </span></div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> <span class="comment"> [[panda_arm1, panda_arm2], [] ...]</span></div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  wcs.push_back(std::vector<std::string>{<span class="stringliteral">"panda_arm1"</span>, <span class="stringliteral">"panda_arm2"</span>});</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="comment"> [{panda_arm1: [xyz, xyz], panda_arm2: [xyz, xyz]}, {} ...]</span></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>  std::vector<std::map<const std::string, std::vector<tf2::Transform>>> workcells_with_bases;</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& workcell: wcs){</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  std::map<const std::string, std::vector<tf2::Transform>> ground_projection;</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& robot: workcell){</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  std::vector<tf2::Transform> ground_per_robot;</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  pcl::octree::OctreePointCloudSearch< pcl::PointXYZ >cloud(0.4f);</div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  cloud.setInputCloud(<a class="code" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a>(<a class="code" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a>.at(robot)));</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  cloud.addPointsFromInputCloud();</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>  <span class="keywordflow">for</span>(pcl::PointXYZ& p : <a class="code" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">grounds_</a>.at(robot)){</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordtype">double</span> min_x, min_y, min_z, max_x, max_y, max_z;</div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  cloud.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);</div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</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="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span> (isInBox && cloud.isVoxelOccupiedAtPoint(p)) {</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  std::vector< int > pointIdxVec;</div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">if</span> (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="l00183"></a><span class="lineno"> 183</span>  }</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor) {</div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  ROS_INFO(<span class="stringliteral">"No result for robot"</span>);</div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  ros::shutdown();</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>  ground_projection.insert(std::pair<<span class="keyword">const</span> std::string, std::vector<tf2::Transform>>(robot,ground_per_robot));</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  }</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  workcells_with_bases.push_back(ground_projection);</div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  ROS_INFO(<span class="stringliteral">"assigne result to first robot..."</span>);</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& wc: workcells_with_bases){</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"> calculate pose per wc {panda_arm1: [,,,], panda_arm2: [,,,]}</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <a class="code" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">calculate</a>(wc);</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>  </div>
+<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd"> 203</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">BaseCalculationMediator::calculate</a>(std::map<<span class="keyword">const</span> std::string, std::vector<tf2::Transform>>& workcell){</div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> Iterate through map, safe all possible solutions in [[(name, pose, config), (name, pose, config)], [....]]</span></div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  std::vector<std::vector<protobuf_entry>> all_solutions_per_workcell;</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>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& s_pos : workcell){</div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <a class="code" href="classCetiRobot.html">CetiRobot</a>* ceti1;</div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  ceti1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(s_pos.first)->next());</div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  } <span class="keywordflow">catch</span>(std::out_of_range& oor){}</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>  visualization_msgs::Marker m;</div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  m.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  m.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  m.ns = ceti1-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>();</div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  m.id = 1;</div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  m.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  m.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  m.pose.position.x = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  m.pose.position.y = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  m.pose.position.z = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  m.pose.orientation.x = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  m.pose.orientation.y = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  m.pose.orientation.z = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  m.pose.orientation.w = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  m.scale.x = ceti1-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX();</div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  m.scale.y = ceti1-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY();</div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  m.scale.z = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ()*2;</div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  m.color.r = 1.0;</div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  m.color.g = 1.0;</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  m.color.b = 1.0;</div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  m.color.a = 1.0;</div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < ceti1-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>().size(); k++){</div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">if</span>(ceti1-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>()[k]){</div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(ceti1-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]->next());</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  ma.markers.push_back(wrd->marker());</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  }</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  }</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  ma.markers.clear();</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="keywordflow">for</span>(<span class="keywordtype">int</span> j = 5; j <= 7; j++){</div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  std::bitset<3> <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>(j);</div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < s_pos.second.size(); i++){</div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  ceti1-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(s_pos.second[i]);</div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</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="l00256"></a><span class="lineno"> 256</span>  ceti1-><a class="code" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(0.0872665f);</div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  ceti1-><a class="code" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">notify</a>();</div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  m.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  m.pose.position.x = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  m.pose.position.y = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  m.pose.position.z = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  m.pose.orientation.x = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  m.pose.orientation.y = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  m.pose.orientation.z = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  m.pose.orientation.w = ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < ceti1-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>().size(); k++){</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">if</span>(ceti1-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>()[k] & <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>[k]){</div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(ceti1-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]->next());</div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  wrd-><a class="code" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a>().color.a = 1;</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>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ceti1-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]){</div>
+<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(ceti1-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]->next());</div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  wrd-><a class="code" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a>().color.a = 0;</div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  ma.markers.push_back(wrd->marker());</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="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">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>  </div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">bool</span> workload;</div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordtype">bool</span> target_collisions = <a class="code" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">checkCollision</a>(s_pos.first, <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>, workload, <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>->dropOffData().at(ceti1-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>()));</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>  <span class="keywordflow">if</span> (workload && target_collisions){</div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  std::vector<protobuf_entry> wc_solution;<span class="comment">// std::vector<protobuff> is one workcell solution</span></div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  wc_solution.push_back(<a class="code" href="structprotobuf__entry.html">protobuf_entry</a>{ceti1-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>(), ceti1-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>(), j});</div>
+<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <a class="code" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">approximation</a>(workcell, wc_solution);</div>
+<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">if</span> (workcell.size() == wc_solution.size()){</div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  all_solutions_per_workcell.push_back(wc_solution);</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>  }</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>  }</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>  m.action = visualization_msgs::Marker::DELETEALL;</div>
+<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <a class="code" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">protobuf_</a>.push_back(all_solutions_per_workcell);</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"> 303</span> }</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="l00305"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278"> 305</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">BaseCalculationMediator::approximation</a>(std::map<<span class="keyword">const</span> std::string, std::vector<tf2::Transform>>& workcell, std::vector<protobuf_entry>& wc_solution){</div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="comment">// build access fiels to existing wc_solution</span></div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  std::vector<tf2::Transform> access_map;</div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordtype">float</span> padding = 0.0025f;</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 class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="comment">// Choose next robot </span></div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <a class="code" href="classCetiRobot.html">CetiRobot</a>* next_ceti;</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordflow">if</span> (!(workcell.size() == wc_solution.size())){</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& r: workcell){</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& s: wc_solution){</div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordflow">if</span> (!(r.first == s.name_)){</div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  next_ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(r.first)->next());</div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordflow">break</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>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keywordflow">return</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>  <span class="comment">// make task_space unique</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keyword">auto</span> ts = <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>->dropOffData().at(next_ceti-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>());</div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  ROS_INFO(<span class="stringliteral">"%i"</span>, ts.size());</div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& r: wc_solution){</div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& vec: <a class="code" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a>->dropOffData().at(r.name_)){</div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = ts.begin(); it != ts.end();){</div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(it->pose_.getOrigin(), vec.pose_.getOrigin()) == 0) {</div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  ts.erase(it);</div>
+<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  ++it;</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  }</div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  }</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>  }</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  </div>
+<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& r : wc_solution){</div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <a class="code" href="classCetiRobot.html">CetiRobot</a>* ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(r.name_)->next());</div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  ceti-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(r.tf_);</div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  ceti-><a class="code" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">notify</a>();</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>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i <= 2; i++){</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j <= 2; j++){</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keywordflow">if</span>(i == 0 && j == 0) {<span class="keywordflow">continue</span>;}</div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordflow">if</span>(i == 2 && j == 2) {<span class="keywordflow">continue</span>;}</div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">if</span>(i == 0) {</div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*j + padding,0)));</div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*j + padding,0)));</div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (j == 0){</div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*i + padding,0,0)));</div>
+<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*i + padding,0,0)));</div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*i+padding,ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*j +padding,0)));</div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*i+padding,ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*j +padding,0)));</div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*i+padding,-ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*j +padding,0)));</div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*i+padding,-ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*j+padding,0)));</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>  </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>  </div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  std::bitset<3> actual_config(r.wing_config_);</div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">for</span>(std::size_t i = 0; i < ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>().size(); i++){</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordflow">if</span>(actual_config[i]){</div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.5f * ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX() + ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->size().getX() + 2*padding + next_ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*0.5f,0,0)));</div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.5f * ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX() - ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->size().getX() - 2*padding - next_ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX()*0.5f,0,0)));</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0.5f*ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY() + ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->size().getY() + 2*padding + next_ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*0.5f ,0)));</div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  access_map.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,-0.5f*ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY() - ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->size().getY() - 2*padding - next_ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY()*0.5f,0))); </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>  }</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="keywordflow">for</span>(<span class="keyword">auto</span>& am: access_map){</div>
+<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  am = r.tf_ * am;</div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  }</div>
+<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  </div>
+<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  }</div>
+<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  visualization_msgs::Marker m;</div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  m.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  m.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  m.ns = next_ceti-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>();</div>
+<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  m.id = 1;</div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  m.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  m.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  m.pose.position.x = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  m.pose.position.y = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  m.pose.position.z = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  m.pose.orientation.x = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  m.pose.orientation.y = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  m.pose.orientation.z = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  m.pose.orientation.w = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  m.scale.x = next_ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX();</div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  m.scale.y = next_ceti-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY();</div>
+<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  m.scale.z = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ()*2;</div>
+<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  m.color.r = 1.0;</div>
+<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  m.color.g = 1.0;</div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  m.color.b = 1.0;</div>
+<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  m.color.a = 1.0;</div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  </div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < next_ceti-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>().size(); k++){</div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <span class="keywordflow">if</span>(next_ceti-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>()[k]){</div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(next_ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]->next());</div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  ma.markers.push_back(wrd->marker());</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>  }</div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  </div>
+<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  ma.markers.clear();</div>
+<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  </div>
+<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j <= 7; j++){</div>
+<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  std::bitset<3> <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>(j);</div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < access_map.size(); i++){</div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  next_ceti-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(access_map[i]);</div>
+<div class="line"><a name="l00420"></a><span class="lineno"> 420</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="l00421"></a><span class="lineno"> 421</span>  next_ceti-><a class="code" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(M_PI/2);</div>
+<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  next_ceti-><a class="code" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">notify</a>();</div>
+<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  m.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  m.pose.position.x = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  m.pose.position.y = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  m.pose.position.z = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  m.pose.orientation.x = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  m.pose.orientation.y = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  m.pose.orientation.z = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  m.pose.orientation.w = next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  ma.markers.push_back(m);</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 k = 0; k < next_ceti-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>().size(); k++){</div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="keywordflow">if</span>(next_ceti-><a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>()[k] & <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>[k]){</div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(next_ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]->next());</div>
+<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  wrd-><a class="code" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a>().color.a = 1;</div>
+<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  ma.markers.push_back(wrd->marker());</div>
+<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]){</div>
+<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(next_ceti-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[k]->next());</div>
+<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  wrd-><a class="code" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a>().color.a = 0;</div>
+<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  ma.markers.push_back(wrd->marker());</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>  }</div>
+<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  ma.markers.clear();</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="keywordtype">bool</span> workload;</div>
+<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="keywordtype">bool</span> target_collisions = <a class="code" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">checkCollision</a>(next_ceti-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>(), <a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a>, workload, ts);</div>
+<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="keywordflow">if</span>(workload && target_collisions) {</div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  wc_solution.push_back({next_ceti-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>(), next_ceti-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>(), j});</div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keywordflow">if</span> (<a class="code" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">sceneCollision</a>(wc_solution)) {</div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  wc_solution.pop_back();</div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <span class="keywordflow">if</span> ( workcell.size() == wc_solution.size()) {</div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <a class="code" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">writeFile</a>(wc_solution);</div>
+<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  <span class="comment">//ros::shutdown();</span></div>
+<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  }</div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  }</div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  }</div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  }</div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  }</div>
+<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  }</div>
+<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  m.action = visualization_msgs::Marker::DELETEALL;</div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  ma.markers.push_back(m);</div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>->publish(ma);</div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  ma.markers.clear();</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"><a class="line" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012"> 469</a></span> <span class="keywordtype">bool</span> <a class="code" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator::sceneCollision</a>(std::vector<protobuf_entry>& wc_solution){</div>
+<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& r1 : wc_solution){</div>
+<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  std::vector<tf2::Transform> bounds;</div>
+<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& r2 : wc_solution){</div>
+<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  <span class="keywordflow">if</span> (r1.name_ == r2.name_) <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  <span class="keyword">auto</span> robot2 = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(r2.name_)->next());</div>
+<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  bounds.push_back(r2.tf_);</div>
+<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  </div>
+<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  robot2-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(r2.tf_);</div>
+<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  robot2->notify();</div>
+<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  </div>
+<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[0]);</div>
+<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[1]);</div>
+<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[2]);</div>
+<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[3]);</div>
+<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  </div>
+<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  bounds.push_back(r2.tf_ * robot2->bounds()[0]);</div>
+<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  bounds.push_back(r2.tf_ * robot2->bounds()[1]);</div>
+<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  bounds.push_back(r2.tf_ * robot2->bounds()[2]);</div>
+<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  bounds.push_back(r2.tf_ * robot2->bounds()[3]);</div>
+<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  </div>
+<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  std::bitset<3> panel_mask(r2.wing_config_);</div>
+<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordflow">for</span>(std::size_t i = 0; i < robot2->observers().size(); i++){</div>
+<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordflow">if</span>(robot2->observerMask()[i] & panel_mask[i]){</div>
+<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  bounds.push_back(robot2->observers()[i]->worldTf());</div>
+<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[0]);</div>
+<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[1]);</div>
+<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[2]);</div>
+<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[3]);</div>
+<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  } </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"> 501</span>  </div>
+<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <span class="keyword">auto</span> robot1 = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(r1.name_)->next());</div>
+<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  robot1-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(r1.tf_);</div>
+<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  robot1->notify();</div>
+<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  </div>
+<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  std::bitset<3> panel_mask(r1.wing_config_);</div>
+<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  std::string str;</div>
+<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < bounds.size(); i++){</div>
+<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  <span class="keywordflow">if</span> (robot1->checkSingleObjectCollision(bounds[i], str, panel_mask)) {</div>
+<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00511"></a><span class="lineno"> 511</span> <span class="comment"> ROS_INFO("%s, %s, %f, %f, %f", str.c_str(),robot1->name().c_str(), bounds[i].getOrigin().getX(), bounds[i].getOrigin().getY(), bounds[i].getOrigin().getZ());</span></div>
+<div class="line"><a name="l00512"></a><span class="lineno"> 512</span> <span class="comment"> visualization_msgs::MarkerArray ma;</span></div>
+<div class="line"><a name="l00513"></a><span class="lineno"> 513</span> <span class="comment"> visualization_msgs::Marker m;</span></div>
+<div class="line"><a name="l00514"></a><span class="lineno"> 514</span> <span class="comment"> m.header.frame_id = "map";</span></div>
+<div class="line"><a name="l00515"></a><span class="lineno"> 515</span> <span class="comment"> m.header.stamp = ros::Time();</span></div>
+<div class="line"><a name="l00516"></a><span class="lineno"> 516</span> <span class="comment"> m.ns = "point" +i;</span></div>
+<div class="line"><a name="l00517"></a><span class="lineno"> 517</span> <span class="comment"> m.id = 1;</span></div>
+<div class="line"><a name="l00518"></a><span class="lineno"> 518</span> <span class="comment"> m.type = visualization_msgs::Marker::CUBE;</span></div>
+<div class="line"><a name="l00519"></a><span class="lineno"> 519</span> <span class="comment"> m.action = visualization_msgs::Marker::ADD;</span></div>
+<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> <span class="comment"> m.pose.position.x = bounds[i].getOrigin().getX();</span></div>
+<div class="line"><a name="l00521"></a><span class="lineno"> 521</span> <span class="comment"> m.pose.position.y = bounds[i].getOrigin().getY();</span></div>
+<div class="line"><a name="l00522"></a><span class="lineno"> 522</span> <span class="comment"> m.pose.position.z = bounds[i].getOrigin().getZ();</span></div>
+<div class="line"><a name="l00523"></a><span class="lineno"> 523</span> <span class="comment"> m.pose.orientation.x = 0;</span></div>
+<div class="line"><a name="l00524"></a><span class="lineno"> 524</span> <span class="comment"> m.pose.orientation.y = 0;</span></div>
+<div class="line"><a name="l00525"></a><span class="lineno"> 525</span> <span class="comment"> m.pose.orientation.z = 0;</span></div>
+<div class="line"><a name="l00526"></a><span class="lineno"> 526</span> <span class="comment"> m.pose.orientation.w = 1;</span></div>
+<div class="line"><a name="l00527"></a><span class="lineno"> 527</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00528"></a><span class="lineno"> 528</span> <span class="comment"> m.scale.x = 0.01f;</span></div>
+<div class="line"><a name="l00529"></a><span class="lineno"> 529</span> <span class="comment"> m.scale.y = 0.01f;</span></div>
+<div class="line"><a name="l00530"></a><span class="lineno"> 530</span> <span class="comment"> m.scale.z = 0.01f;</span></div>
+<div class="line"><a name="l00531"></a><span class="lineno"> 531</span> <span class="comment"> m.color.r = 1.0;</span></div>
+<div class="line"><a name="l00532"></a><span class="lineno"> 532</span> <span class="comment"> m.color.g = 0;</span></div>
+<div class="line"><a name="l00533"></a><span class="lineno"> 533</span> <span class="comment"> m.color.b = 0;</span></div>
+<div class="line"><a name="l00534"></a><span class="lineno"> 534</span> <span class="comment"> m.color.a = 1.0;</span></div>
+<div class="line"><a name="l00535"></a><span class="lineno"> 535</span> <span class="comment"> ma.markers.push_back(m);</span></div>
+<div class="line"><a name="l00536"></a><span class="lineno"> 536</span> <span class="comment"> pub_->publish(ma);</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="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00539"></a><span class="lineno"> 539</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>  }</div>
+<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  <span class="keywordflow">return</span> <span class="keyword">false</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> <span class="comment">/*</span></div>
+<div class="line"><a name="l00545"></a><span class="lineno"> 545</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00546"></a><span class="lineno"> 546</span> <span class="comment">void Base_calculation_mediator::write_file(){</span></div>
+<div class="line"><a name="l00547"></a><span class="lineno"> 547</span> <span class="comment"> for(auto& workcell: protobuf_){</span></div>
+<div class="line"><a name="l00548"></a><span class="lineno"> 548</span> <span class="comment"> for(auto& single_solution: workcell){</span></div>
+<div class="line"><a name="l00549"></a><span class="lineno"> 549</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00551"></a><span class="lineno"> 551</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00552"></a><span class="lineno"> 552</span> <span class="comment">}</span></div>
+<div class="line"><a name="l00553"></a><span class="lineno"> 553</span> <span class="comment">*/</span></div>
+<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  </div>
+<div class="line"><a name="l00555"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54"> 555</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">BaseCalculationMediator::writeFile</a>(std::vector<protobuf_entry>& wc_solution){</div>
+<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  std::stringstream panel_ss;</div>
+<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  std::stringstream root_ss;</div>
+<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  </div>
+<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  ss << <span class="stringliteral">"{ 'objects' : [ \n"</span>;</div>
+<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c < wc_solution.size(); c++){</div>
+<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  <span class="keywordflow">try</span>{ </div>
+<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  std::regex rx(<span class="stringliteral">"panda_arm([0-9]+)"</span>);</div>
+<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  std::smatch match;</div>
+<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  std::regex_match(wc_solution[c].name_, match, rx);</div>
+<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div>
+<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keyword">auto</span> ceti = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(<a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(wc_solution[c].name_)->next());</div>
+<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  ceti-><a class="code" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(wc_solution[c].tf_);</div>
+<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  ceti->notify();</div>
+<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  </div>
+<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="keywordtype">double</span> r,p,y;</div>
+<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  tf2::Matrix3x3 m(wc_solution[c].tf_.getRotation());</div>
+<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  m.getRPY(r,p,y);</div>
+<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  </div>
+<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  <span class="keywordtype">float</span> size_x = ceti->size().getX();</div>
+<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="keywordtype">float</span> size_y = ceti->size().getY();</div>
+<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="keywordtype">float</span> size_z = ceti->size().getZ();</div>
+<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  </div>
+<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="keywordtype">float</span> pos_x = ceti->tf().getOrigin().getX();</div>
+<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="keywordtype">float</span> pos_y = ceti->tf().getOrigin().getY();</div>
+<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="keywordtype">float</span> pos_z = ceti->tf().getOrigin().getZ() *2 ;</div>
+<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  <span class="keywordtype">float</span> rot_x = ceti->tf().getRotation().getX();</div>
+<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <span class="keywordtype">float</span> rot_y = ceti->tf().getRotation().getY();</div>
+<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <span class="keywordtype">float</span> rot_z = ceti->tf().getRotation().getZ();</div>
+<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  <span class="keywordtype">float</span> rot_w = ceti->tf().getRotation().getW();</div>
+<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  </div>
+<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_1', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_2', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }},\n"</span>;</div>
+<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_3', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_wheel_4', 'pos': { 'x': 0,'y': 0,'z': 0.06 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_front', 'pos': { 'x': 0,'y': 0, 'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_back', 'pos': { 'x': 0,'y': 0,'z': 0.45 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_left', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_body_right', 'pos': { 'x': 0,'y': 0,'z': 0.50 },'size': { 'length': 0.12,'width': 0.12,'height': 0.12 },'orientation': { 'w': 1 },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }}, \n"</span>;</div>
+<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  ss << <span class="stringliteral">"{ 'id' : 'table"</span> << match[1] << <span class="stringliteral">"_table_top', 'pos': { 'x': "</span> << std::to_string(pos_x) << <span class="stringliteral">" , 'y': "</span><< std::to_string(pos_y) << <span class="stringliteral">" , 'z': "</span><< std::to_string(pos_z) << <span class="stringliteral">" },'size': { 'length': "</span><< std::to_string(size_x) << <span class="stringliteral">" ,'width': "</span><< std::to_string(size_y) << <span class="stringliteral">" ,'height': "</span><< std::to_string(size_z) << <span class="stringliteral">" },'orientation': { 'x': "</span> << std::to_string(rot_x) << <span class="stringliteral">" , 'y': "</span> << std::to_string(rot_y) << <span class="stringliteral">" , 'z': "</span> << std::to_string(rot_z) << <span class="stringliteral">" , 'w': "</span> << std::to_string(rot_w) << <span class="stringliteral">" },'color': { 'r': 0.15,'g': 0.15,'b': 0.15 }, 'rpy': { 'r': "</span> << std::to_string(r) << <span class="stringliteral">" , 'p': "</span> << std::to_string(p) << <span class="stringliteral">" , 'y': "</span> << std::to_string(y) << <span class="stringliteral">" } },\n"</span>;</div>
+<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  </div>
+<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  std::bitset<3> panel_mask(wc_solution[c].wing_config_);</div>
+<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordflow">for</span>(std::size_t i = 0; i < ceti->observers().size(); i++){</div>
+<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  <span class="keywordflow">if</span>(ceti->observerMask()[i] & panel_mask[i]){</div>
+<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  <span class="keywordtype">float</span> x = ceti->observers()[i]->worldTf().getOrigin().getX();</div>
+<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  <span class="keywordtype">float</span> y = ceti->observers()[i]->worldTf().getOrigin().getY();</div>
+<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="keywordtype">float</span> z = ceti->observers()[i]->worldTf().getOrigin().getZ();</div>
+<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  <span class="keywordtype">float</span> qx = ceti->observers()[i]->worldTf().getRotation().getX();</div>
+<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordtype">float</span> qy = ceti->observers()[i]->worldTf().getRotation().getY();</div>
+<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keywordtype">float</span> qz = ceti->observers()[i]->worldTf().getRotation().getZ();</div>
+<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <span class="keywordtype">float</span> qw = ceti->observers()[i]->worldTf().getRotation().getW();</div>
+<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  </div>
+<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <span class="keywordtype">float</span> length = ceti->observers()[i]->size().getX();</div>
+<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  <span class="keywordtype">float</span> width = ceti->observers()[i]->size().getY();</div>
+<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  <span class="keywordtype">float</span> height = ceti->observers()[i]->size().getZ();</div>
+<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  panel_ss << <span class="stringliteral">"{ 'id': '"</span> << ceti->observers()[i]->name() << <span class="stringliteral">"' , 'pos': { 'x': "</span><< std::to_string(x) << <span class="stringliteral">" , 'y': "</span><< std::to_string(y) << <span class="stringliteral">" , 'z': "</span><< std::to_string(z - 0.25*height) << <span class="stringliteral">" } , 'size': { 'length': "</span><< std::to_string(length) << <span class="stringliteral">" , 'width': "</span><< std::to_string(width) << <span class="stringliteral">" , 'height': "</span><< std::to_string(height) << <span class="stringliteral">" } , 'orientation': { 'x': "</span><< std::to_string(qx) << <span class="stringliteral">" , 'y': "</span><< std::to_string(qy) << <span class="stringliteral">" , 'z': "</span><< std::to_string(qz) << <span class="stringliteral">" , 'w': "</span><< std::to_string(qw) << <span class="stringliteral">" } , 'color': { 'r': 0.15 , 'g': 0.15 , 'b': 0.15 } }, \n"</span>;</div>
+<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  } </div>
+<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  }</div>
+<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  </div>
+<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  tf2::Transform tf_arm = wc_solution[c].tf_ * ceti->rootTf();</div>
+<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <span class="keywordtype">float</span> arm_x = tf_arm.getOrigin().getX();</div>
+<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  <span class="keywordtype">float</span> arm_y = tf_arm.getOrigin().getY();</div>
+<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  <span class="keywordtype">float</span> arm_z = tf_arm.getOrigin().getZ();</div>
+<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <span class="keywordtype">float</span> arm_qx = tf_arm.getRotation().getX();</div>
+<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordtype">float</span> arm_qy = tf_arm.getRotation().getY();</div>
+<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  <span class="keywordtype">float</span> arm_qz = tf_arm.getRotation().getZ();</div>
+<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keywordtype">float</span> arm_qw = tf_arm.getRotation().getW();</div>
+<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  </div>
+<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  <span class="keywordflow">if</span> (!(c == wc_solution.size())){</div>
+<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <span class="comment">// begin</span></div>
+<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  root_ss << <span class="stringliteral">"{ 'id': 'arm"</span> << match[1] << <span class="stringliteral">"','type': 'ARM','pos': { 'x': "</span> << std::to_string(arm_x) << <span class="stringliteral">", 'y': "</span> << std::to_string(arm_y) << <span class="stringliteral">", 'z': 0.89 },'size': { },'orientation': { 'x': "</span> << std::to_string(arm_qx) <<<span class="stringliteral">", 'y': "</span> << std::to_string(arm_qy) << <span class="stringliteral">", 'z': "</span> << std::to_string(arm_qz) << <span class="stringliteral">", 'w': "</span> << std::to_string(arm_qw) << <span class="stringliteral">" },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }, \n"</span>;</div>
+<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  root_ss << <span class="stringliteral">"{ 'id': 'arm"</span> << match[1] << <span class="stringliteral">"','type': 'ARM','pos': { 'x': "</span> << std::to_string(arm_x) << <span class="stringliteral">", 'y': "</span> << std::to_string(arm_y) << <span class="stringliteral">", 'z': 0.89 },'size': { },'orientation': { 'x': "</span> << std::to_string(arm_qx) <<<span class="stringliteral">", 'y': "</span> << std::to_string(arm_qy) << <span class="stringliteral">", 'z': "</span> << std::to_string(arm_qz) << <span class="stringliteral">", 'w': "</span> << std::to_string(arm_qw) << <span class="stringliteral">" },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }"</span>;</div>
+<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  }</div>
+<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  </div>
+<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor) {</div>
+<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  }</div>
+<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  }</div>
+<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  </div>
+<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  </div>
+<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  </div>
+<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  </div>
+<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  std::ofstream o(ros::package::getPath(<span class="stringliteral">"multi_cell_builder"</span>) + <span class="stringliteral">"/results/"</span>+ <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a> + <span class="stringliteral">"/"</span> + std::to_string(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(ros::Time::now().toNSec())) + <span class="stringliteral">".yaml"</span>);</div>
+<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  ss << panel_ss.str();</div>
+<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  ss << root_ss.str();</div>
+<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  ss << <span class="stringliteral">"]}"</span>;</div>
+<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  o << ss.str();</div>
+<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  o.close();</div>
+<div class="line"><a name="l00644"></a><span class="lineno"> 644</span> }</div>
+<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  </div>
+<div class="line"><a name="l00646"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9"> 646</a></span> <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a>(<a class="code" href="classCetiRobot.html">CetiRobot</a>* ar){</div>
+<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  visualization_msgs::MarkerArray ma;</div>
+<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  visualization_msgs::Marker marker;</div>
+<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  marker.header.frame_id = <span class="stringliteral">"map"</span>;</div>
+<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  marker.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  marker.ns = ar-><a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>();</div>
+<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  marker.id = 1;</div>
+<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  marker.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  marker.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  marker.pose.position.x = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getX();</div>
+<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  marker.pose.position.y = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getY();</div>
+<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  marker.pose.position.z = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ();</div>
+<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  marker.pose.orientation.x = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getX();</div>
+<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  marker.pose.orientation.y = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getY();</div>
+<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  marker.pose.orientation.z = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getZ();</div>
+<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  marker.pose.orientation.w = ar-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getRotation().getW();</div>
+<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  marker.scale.x = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getX();</div>
+<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  marker.scale.y = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getY();</div>
+<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  marker.scale.z = ar-><a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>().getZ();</div>
+<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  marker.color.r = 1.0;</div>
+<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  marker.color.g = 1.0;</div>
+<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  marker.color.b = 1.0;</div>
+<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  marker.color.a = 1.0;</div>
+<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < ar-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>().size(); i++){</div>
+<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <span class="keyword">auto</span> wrd = <span class="keyword">dynamic_cast<</span><a class="code" href="classRvizPanel.html">RvizPanel</a>*<span class="keyword">></span>(ar-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i].get());</div>
+<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  ma.markers.push_back(wrd->marker());</div>
+<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  }</div>
+<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  </div>
+<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="comment">//pub_->publish(ma);</span></div>
+<div class="line"><a name="l00675"></a><span class="lineno"> 675</span> }</div>
</div><!-- 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="aclassBaseCalculationMediator_html_a71b1c29a63fb269359155c9da5bd98dd"><div class="ttname"><a href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">BaseCalculationMediator::calculate</a></div><div class="ttdeci">void calculate(std::map< const std::string, std::vector< tf2::Transform >> &workcell)</div><div class="ttdoc">Workspace calculator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00203">base_calculation_mediator.cpp:203</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a3c7679cefd8f5ef8e208224745f8aac4"><div class="ttname"><a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator::result_vector_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_vector_</div><div class="ttdoc">Result_vector of base positions linked to robot.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00048">abstract_mediator.h:48</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ad0a7b1bdcbb5cf791e21ef6a54d27b9c"><div class="ttname"><a href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">BaseCalculationMediator::checkCollision</a></div><div class="ttdeci">bool checkCollision(const std::string &robot, std::bitset< 3 > &panel_mask, bool &workload, std::vector< object_data > &ts)</div><div class="ttdoc">check_collision</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00063">base_calculation_mediator.cpp:63</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a473e10b5d9be7303626d19c376bfb989"><div class="ttname"><a href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator::BaseCalculationMediator</a></div><div class="ttdeci">BaseCalculationMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">BaseCalculationMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00003">base_calculation_mediator.cpp:3</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a0ea161092fdc570497c5a94554e2ee50"><div class="ttname"><a href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">CetiRobot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< AbstractRobotElementDecorator > > & observers()</div><div class="ttdoc">Get observers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00053">ceti_robot.h:53</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_af0c39df122cc6a567624184b893c3b64"><div class="ttname"><a href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot::setObserverMask</a></div><div class="ttdeci">void setObserverMask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00083">ceti_robot.h:83</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_af3d61b41f607cd3092a6bad7285cb668"><div class="ttname"><a href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">AbstractRobot::rotate</a></div><div class="ttdeci">void rotate(float deg)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00049">abstract_robot.h:49</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ace0933d700ae441525470f53e1ee6340"><div class="ttname"><a href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">BaseCalculationMediator::protobuf_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< protobuf_entry > > > protobuf_</div><div class="ttdoc">Datastructure as product of all baseposition -> robot combinations.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00028">base_calculation_mediator.h:28</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00010">abstract_robot.h:10</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a53decc994ea4df246c87cedf1619f58b"><div class="ttname"><a href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">AbstractRobot::setTf</a></div><div class="ttdeci">void setTf(tf2::Transform &t)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00048">abstract_robot.h:48</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a0b765402d1ddf2337796bda78f9114dd"><div class="ttname"><a href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">BaseCalculationMediator::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#l00026">base_calculation_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_ab489d27cc52734c8d2fd2fb11917a26c"><div class="ttname"><a href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot::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#l00068">ceti_robot.cpp:68</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ac5d3fbee8f8d0cfe400014da7be6ac98"><div class="ttname"><a href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">BaseCalculationMediator::filename_</a></div><div class="ttdeci">std::string filename_</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00029">base_calculation_mediator.h:29</a></div></div>
<div class="ttc" id="abase__calculation__mediator_8h_html"><div class="ttname"><a href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></div></div>
-<div class="ttc" id="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>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a475d026e0344626a5b68f7a8db3b4f5a"><div class="ttname"><a href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">Robot Connector implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00025">base_calculation_mediator.cpp:25</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_af1e8d7efc6cdfae12f18decc0008187c"><div class="ttname"><a href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator::generateGrounds</a></div><div class="ttdeci">void generateGrounds(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdoc">Ground generator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00013">base_calculation_mediator.cpp:13</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a6caa36a0e7ca24bc97a9558cf46c72ad"><div class="ttname"><a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">Nodehandle for access to the Rosparam server.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00043">abstract_mediator.h:43</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a7a57e87b0c6d8e471901ec5b16b6b44e"><div class="ttname"><a href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">CetiRobot::observerMask</a></div><div class="ttdeci">std::bitset< 3 > observerMask()</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00082">ceti_robot.h:82</a></div></div>
+<div class="ttc" id="astructprotobuf__entry_html"><div class="ttname"><a href="structprotobuf__entry.html">protobuf_entry</a></div><div class="ttdoc">Protobuf entry.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00031">abstract_mediator.h:31</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aa6c0a4be3271f80cd721a0229c4e821f"><div class="ttname"><a href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00034">ceti_robot.h:34</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ab90e7d35612b9548d823fee2b81ce5fa"><div class="ttname"><a href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">pure virtual Sets panels for robots</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00030">base_calculation_mediator.cpp:30</a></div></div>
+<div class="ttc" id="aclassRvizPanel_html_a0bdbda591a566ca44cc8f61d89011c22"><div class="ttname"><a href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">RvizPanel::marker</a></div><div class="ttdeci">visualization_msgs::Marker & marker()</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00018">rviz_panel.h:18</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_ae42784e8435ca6ebec2bc1af1f32ce02"><div class="ttname"><a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator::vector2cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(std::vector< pcl::PointXYZ > &vector)</div><div class="ttdoc">Cloud converter.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8cpp_source.html#l00010">abstract_mediator.cpp:10</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a6a1ec0763b38dc5b84abc74ddf8a77a9"><div class="ttname"><a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a></div><div class="ttdeci">void publish(CetiRobot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00646">base_calculation_mediator.cpp:646</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aec53b09b5915dd3f444567a5fb821f79"><div class="ttname"><a href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot::checkSingleObjectCollision</a></div><div class="ttdeci">bool checkSingleObjectCollision(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</div><div class="ttdoc">Collsion calculation for single objects.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00010">ceti_robot.cpp:10</a></div></div>
+<div class="ttc" id="aclassRvizPanel_html"><div class="ttname"><a href="classRvizPanel.html">RvizPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00010">rviz_panel.h:10</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_af021b903e94426375568964bc90973e3"><div class="ttname"><a href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">BaseCalculationMediator::pub_</a></div><div class="ttdeci">std::unique_ptr< ros::Publisher > pub_</div><div class="ttdoc">Publisher sharing visualization messages of the scene.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00025">base_calculation_mediator.h:25</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a329be680a6366d7a31e9d009eff70920"><div class="ttname"><a href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">Mediator implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00130">base_calculation_mediator.cpp:130</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a127fc02c11e4aad5ac4aa58b793c1e54"><div class="ttname"><a href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">BaseCalculationMediator::writeFile</a></div><div class="ttdeci">void writeFile(std::vector< protobuf_entry > &wc_solution)</div><div class="ttdoc">Writes result file.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00555">base_calculation_mediator.cpp:555</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a2c28239ef77e98ca768784e441a9e012"><div class="ttname"><a href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator::sceneCollision</a></div><div class="ttdeci">bool sceneCollision(std::vector< protobuf_entry > &wc_solution)</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00469">base_calculation_mediator.cpp:469</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a6573899bb57e886d4d3aea1952682992"><div class="ttname"><a href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">CetiRobot::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00032">ceti_robot.h:32</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ad0821305631031904031b6ca17c9b278"><div class="ttname"><a href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">BaseCalculationMediator::approximation</a></div><div class="ttdeci">void approximation(std::map< const std::string, std::vector< tf2::Transform >> &workcell, std::vector< protobuf_entry > &wc_solution)</div><div class="ttdoc">Approximates other robots to fit in the workspace.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00305">base_calculation_mediator.cpp:305</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a153ed782c15db3966bea479d4e5917f3"><div class="ttname"><a href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00033">ceti_robot.h:33</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a4786aa6941e2776476ca71829d771faa"><div class="ttname"><a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< TSReader > task_space_reader_</div><div class="ttdoc">Task_space reader which provides drop off positions.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00044">abstract_mediator.h:44</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/base__calculation__mediator_8h.html b/doc/html/base__calculation__mediator_8h.html
index 704d213fac9a66ce51b2b5920c3126eb5580a07d..3b1c6797b56ebed1414bc8f996eef23e48069ae1 100644
--- a/doc/html/base__calculation__mediator_8h.html
+++ b/doc/html/base__calculation__mediator_8h.html
@@ -31,8 +31,9 @@ $(function() {
<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 <filesystem></code><br />
+<code>#include "<a class="el" href="abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__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 />
@@ -43,42 +44,43 @@ Include dependency graph for base_calculation_mediator.h:</div>
<div class="dyncontent">
<div class="center"><img src="base__calculation__mediator_8h__incl.png" border="0" usemap="#base__calculation__mediator_8h" alt=""/></div>
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</div>
</div><div class="textblock"><div class="dynheader">
@@ -96,8 +98,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Concrete Mediator. <a href="classBaseCalculationMediator.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -106,7 +108,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/base__calculation__mediator_8h__incl.map b/doc/html/base__calculation__mediator_8h__incl.map
index 16fff756f27c6de312f635953a0dbaef86f6ace9..d5b21a1a63a2b54e57a870c30735d49e502e2f78 100644
--- a/doc/html/base__calculation__mediator_8h__incl.map
+++ b/doc/html/base__calculation__mediator_8h__incl.map
@@ -1,38 +1,39 @@
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--- a/doc/html/base__calculation__mediator_8h_source.html
+++ b/doc/html/base__calculation__mediator_8h_source.html
@@ -32,110 +32,98 @@ $(function() {
<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="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <filesystem></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 "<a class="code" href="abstract__mediator_8h.html">mediator/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="abstract__robot_8h.html">robot/abstract_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="ceti__robot_8h.html">robot/ceti_robot.h</a>"</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</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="l00015"></a><span class="lineno"> 15</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="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="robot__reader_8h.html">reader/robot_reader.h</a>"</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="l00023"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html"> 23</a></span> <span class="keyword">class </span><a class="code" href="classBaseCalculationMediator.html">BaseCalculationMediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractMediator.html">AbstractMediator</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="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3"> 25</a></span>  std::unique_ptr<ros::Publisher> <a class="code" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a>; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd"> 26</a></span>  std::map<const std::string, std::vector<pcl::PointXYZ>> <a class="code" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">grounds_</a>; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add"> 27</a></span>  std::vector<std::vector<std::unique_ptr<AbstractRobotElement>>> <a class="code" href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">wings_</a>; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340"> 28</a></span>  std::vector<std::vector<std::vector<protobuf_entry>>> <a class="code" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">protobuf_</a>; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98"> 29</a></span>  std::string <a class="code" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</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="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</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>  </div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">generateGrounds</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="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="l00054"></a><span class="lineno"> 54</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">approximation</a>(std::map<<span class="keyword">const</span> std::string, std::vector<tf2::Transform>>& workcell, std::vector<protobuf_entry>& wc_solution);</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="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">writeFile</a>(std::vector<protobuf_entry>& wc_solution);</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="l00065"></a><span class="lineno"> 65</span>  </div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">publish</a>(<a class="code" href="classCetiRobot.html">CetiRobot</a>* r);</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="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">setupRviz</a>();</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">calculate</a>(std::map<<span class="keyword">const</span> std::string, std::vector<tf2::Transform>>& workcell);</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="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">setPanel</a>() <span class="keyword">override</span>;</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="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="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">bool</span> <a class="code" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">checkCollision</a>(<span class="keyword">const</span> std::string& robot, std::bitset<3>& panel_mask, <span class="keywordtype">bool</span>& workload, std::vector<object_data>& ts);</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="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">mediate</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">void</span> <a class="code" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">bool</span> <a class="code" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">sceneCollision</a>(std::vector<protobuf_entry>& wc_solution);</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="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 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="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="aclassBaseCalculationMediator_html_a71b1c29a63fb269359155c9da5bd98dd"><div class="ttname"><a href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">BaseCalculationMediator::calculate</a></div><div class="ttdeci">void calculate(std::map< const std::string, std::vector< tf2::Transform >> &workcell)</div><div class="ttdoc">Workspace calculator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00203">base_calculation_mediator.cpp:203</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ac9037e54089f643e890763642efebc84"><div class="ttname"><a href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">BaseCalculationMediator::setupRviz</a></div><div class="ttdeci">void setupRviz()</div><div class="ttdoc">Rviz setup methode.</div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ad0a7b1bdcbb5cf791e21ef6a54d27b9c"><div class="ttname"><a href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">BaseCalculationMediator::checkCollision</a></div><div class="ttdeci">bool checkCollision(const std::string &robot, std::bitset< 3 > &panel_mask, bool &workload, std::vector< object_data > &ts)</div><div class="ttdoc">check_collision</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00063">base_calculation_mediator.cpp:63</a></div></div>
+<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a473e10b5d9be7303626d19c376bfb989"><div class="ttname"><a href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator::BaseCalculationMediator</a></div><div class="ttdeci">BaseCalculationMediator(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">BaseCalculationMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00003">base_calculation_mediator.cpp:3</a></div></div>
<div class="ttc" id="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="aclassBaseCalculationMediator_html"><div class="ttname"><a href="classBaseCalculationMediator.html">BaseCalculationMediator</a></div><div class="ttdoc">Concrete Mediator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00023">base_calculation_mediator.h:23</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ace0933d700ae441525470f53e1ee6340"><div class="ttname"><a href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">BaseCalculationMediator::protobuf_</a></div><div class="ttdeci">std::vector< std::vector< std::vector< protobuf_entry > > > protobuf_</div><div class="ttdoc">Datastructure as product of all baseposition -> robot combinations.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00028">base_calculation_mediator.h:28</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
<div class="ttc" id="aceti__robot_8h_html"><div class="ttname"><a href="ceti__robot_8h.html">ceti_robot.h</a></div></div>
-<div class="ttc" id="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="aclassBaseCalculationMediator_html_a0b765402d1ddf2337796bda78f9114dd"><div class="ttname"><a href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">BaseCalculationMediator::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#l00026">base_calculation_mediator.h:26</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ac5d3fbee8f8d0cfe400014da7be6ac98"><div class="ttname"><a href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">BaseCalculationMediator::filename_</a></div><div class="ttdeci">std::string filename_</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00029">base_calculation_mediator.h:29</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a5a9ec25501705a48e1d2fe47f1d00add"><div class="ttname"><a href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">BaseCalculationMediator::wings_</a></div><div class="ttdeci">std::vector< std::vector< std::unique_ptr< AbstractRobotElement > > > wings_</div><div class="ttdoc">Possible panels per robot.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00027">base_calculation_mediator.h:27</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a475d026e0344626a5b68f7a8db3b4f5a"><div class="ttname"><a href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">Robot Connector implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00025">base_calculation_mediator.cpp:25</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_af1e8d7efc6cdfae12f18decc0008187c"><div class="ttname"><a href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator::generateGrounds</a></div><div class="ttdeci">void generateGrounds(const tf2::Vector3 origin, const float diameter, float resolution)</div><div class="ttdoc">Ground generator.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00013">base_calculation_mediator.cpp:13</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ab90e7d35612b9548d823fee2b81ce5fa"><div class="ttname"><a href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">pure virtual Sets panels for robots</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00030">base_calculation_mediator.cpp:30</a></div></div>
<div class="ttc" id="arviz__panel_8h_html"><div class="ttname"><a href="rviz__panel_8h.html">rviz_panel.h</a></div></div>
-<div class="ttc" id="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="aclassBaseCalculationMediator_html_a6a1ec0763b38dc5b84abc74ddf8a77a9"><div class="ttname"><a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator::publish</a></div><div class="ttdeci">void publish(CetiRobot *r)</div><div class="ttdoc">Marker publishing methode.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00646">base_calculation_mediator.cpp:646</a></div></div>
<div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_af021b903e94426375568964bc90973e3"><div class="ttname"><a href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">BaseCalculationMediator::pub_</a></div><div class="ttdeci">std::unique_ptr< ros::Publisher > pub_</div><div class="ttdoc">Publisher sharing visualization messages of the scene.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8h_source.html#l00025">base_calculation_mediator.h:25</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>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a329be680a6366d7a31e9d009eff70920"><div class="ttname"><a href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">Mediator implementation.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00130">base_calculation_mediator.cpp:130</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a127fc02c11e4aad5ac4aa58b793c1e54"><div class="ttname"><a href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">BaseCalculationMediator::writeFile</a></div><div class="ttdeci">void writeFile(std::vector< protobuf_entry > &wc_solution)</div><div class="ttdoc">Writes result file.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00555">base_calculation_mediator.cpp:555</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_a2c28239ef77e98ca768784e441a9e012"><div class="ttname"><a href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator::sceneCollision</a></div><div class="ttdeci">bool sceneCollision(std::vector< protobuf_entry > &wc_solution)</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00469">base_calculation_mediator.cpp:469</a></div></div>
+<div class="ttc" id="aclassBaseCalculationMediator_html_ad0821305631031904031b6ca17c9b278"><div class="ttname"><a href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">BaseCalculationMediator::approximation</a></div><div class="ttdeci">void approximation(std::map< const std::string, std::vector< tf2::Transform >> &workcell, std::vector< protobuf_entry > &wc_solution)</div><div class="ttdoc">Approximates other robots to fit in the workspace.</div><div class="ttdef"><b>Definition:</b> <a href="base__calculation__mediator_8cpp_source.html#l00305">base_calculation_mediator.cpp:305</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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-<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 />
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-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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e82a18e627">◆ </a></span>main()</h2>
-
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- <td class="memname">int main </td>
- <td>(</td>
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- <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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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: base_routine.cpp Source File</title>
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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>
-<div class="line"><a name="l00002"></a><span class="lineno"> 2</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="l00003"></a><span class="lineno"> 3</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="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="mediator_8h.html">impl/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__rviz__decorator_8h.html">impl/wing_rviz_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="field__rviz__decorator_8h.html">impl/field_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="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="impl_2field_8h.html">impl/field.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 "<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>
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-<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>
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-
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-<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+++ b/doc/html/cell__routine_8cpp.html
@@ -27,18 +27,10 @@ $(function() {
<div class="title">cell_routine.cpp File Reference</div> </div>
</div><!--header-->
<div class="contents">
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-<code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<div class="textblock"><code>#include <xmlrpcpp/XmlRpc.h></code><br />
+<code>#include "<a class="el" href="moveit__mediator_8h_source.html">mediator/moveit_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__mediator_8h_source.html">mediator/abstract_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="panda__decorator_8h_source.html">robot/decorators/panda_decorator.h</a>"</code><br />
<code>#include "<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 />
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@@ -139,7 +131,7 @@ Functions</h2></td></tr>
</table>
</div><div class="memdoc">
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+<p class="definition">Definition at line <a class="el" href="cell__routine_8cpp_source.html#l00019">19</a> of file <a class="el" href="cell__routine_8cpp_source.html">cell_routine.cpp</a>.</p>
</div>
</div>
@@ -149,7 +141,7 @@ Functions</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/cell__routine_8cpp__incl.map b/doc/html/cell__routine_8cpp__incl.map
index 4aa7a06e0e9998ea7de300c00cad4414a3e11448..e48f0344f26028a6863b13e7e93c4035a20ae83c 100644
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--- a/doc/html/cell__routine_8cpp__incl.md5
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diff --git a/doc/html/cell__routine_8cpp__incl.png b/doc/html/cell__routine_8cpp__incl.png
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Binary files a/doc/html/cell__routine_8cpp__incl.png and b/doc/html/cell__routine_8cpp__incl.png differ
diff --git a/doc/html/cell__routine_8cpp_source.html b/doc/html/cell__routine_8cpp_source.html
index 0a0a016a257f5023e74b78e8f0488977aa2cf939..9fa4edf35d67143546c0a0939d328b1a31f1321a 100644
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+++ b/doc/html/cell__routine_8cpp_source.html
@@ -25,129 +25,80 @@ $(function() {
<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>
+<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 <xmlrpcpp/XmlRpc.h></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="moveit__mediator_8h.html">mediator/moveit_mediator.h</a>"</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "<a class="code" href="abstract__mediator_8h.html">mediator/abstract_mediator.h</a>"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="panda__decorator_8h.html">robot/decorators/panda_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> <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="l00008"></a><span class="lineno"> 8</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="l00009"></a><span class="lineno"> 9</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="l00010"></a><span class="lineno"> 10</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="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_grasps/two_finger_grasp_generator.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_data.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_filter.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <moveit_grasps/grasp_planner.h></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">#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="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 19</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="l00020"></a><span class="lineno"> 20</span>  ros::init(argc, argv, <span class="stringliteral">"cell_routine"</span>);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  std::shared_ptr<ros::NodeHandle> n(<span class="keyword">new</span> ros::NodeHandle);</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="l00023"></a><span class="lineno"> 23</span>  ros::AsyncSpinner spinner(1);</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  spinner.start();</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::shared_ptr<MoveitMediator> mediator = std::make_shared<MoveitMediator>(n);</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">auto</span> rd = mediator->robotReader()->robotData();</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 < rd.size() ;i++){</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  mediator->connectRobots(std::move(ceti_panda));</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  }</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="comment">//mediator->set_dirname(filename);</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  mediator->setPanel();</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  mediator->mediate();</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">while</span> (ros::ok()){</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  ros::spinOnce();</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  }</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  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 class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> for (int i = 0; i < rd.size() ;i++){</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> std::unique_ptr<Abstract_robot> ceti = std::make_unique<Ceti_robot>(rd[i].name_, rd[i].pose_, rd[i].size_);</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> std::unique_ptr<Panda_decorator> ceti_panda = std::make_unique<Panda_decorator>(std::move(ceti));</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> mediator->connect_robots(std::move(ceti_panda));</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> }</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> mediator->set_result_vector(simple_base->result());</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> //mediator->set_dirname(filename);</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> mediator->set_panel();</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> </span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> mediator->mediate();</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> }</div>
</div><!-- 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="acell__routine_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="cell__routine_8cpp_source.html#l00019">cell_routine.cpp:19</a></div></div>
+<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
<div class="ttc" id="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>
+<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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/ceti__robot_8cpp.html b/doc/html/ceti__robot_8cpp.html
index 6c055f57f2b890646f726bd8ea0fbda4b624c744..06f3b9c25b317738f81549c501da193433700da6 100644
--- a/doc/html/ceti__robot_8cpp.html
+++ b/doc/html/ceti__robot_8cpp.html
@@ -26,26 +26,22 @@ $(function() {
</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 />
+<code>#include <regex></code><br />
</div><div class="textblock"><div class="dynheader">
Include dependency graph for ceti_robot.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="ceti__robot_8cpp__incl.png" border="0" usemap="#ceti__robot_8cpp" alt=""/></div>
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+<area shape="rect" title=" " alt="" coords="342,5,457,32"/>
+<area shape="rect" href="ceti__robot_8h.html" title=" " alt="" coords="269,80,407,107"/>
+<area shape="rect" title=" " alt="" coords="431,80,490,107"/>
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+<area shape="rect" title=" " alt="" coords="531,266,590,293"/>
</map>
</div>
</div>
@@ -56,7 +52,7 @@ Include dependency graph for ceti_robot.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/ceti__robot_8cpp__incl.map b/doc/html/ceti__robot_8cpp__incl.map
index 4d8f4f3f0fb1143cb1801908fdad3c4823a4cb8d..688ebb4cfba6e44c83ed10ef04b015fd1d1a17c8 100644
--- a/doc/html/ceti__robot_8cpp__incl.map
+++ b/doc/html/ceti__robot_8cpp__incl.map
@@ -1,17 +1,12 @@
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diff --git a/doc/html/ceti__robot_8cpp_source.html b/doc/html/ceti__robot_8cpp_source.html
index 9f4f77e8881d2916833d14e51cc7441f1b152dff..a29873d2bf4819db429f9f50d3fcb93e0ea8a35b 100644
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+++ b/doc/html/ceti__robot_8cpp_source.html
@@ -26,233 +26,143 @@ $(function() {
</div><!--header-->
<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="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="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031"> 4</a></span> <a class="code" href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot::CetiRobot</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="classAbstractRobot.html">AbstractRobot</a>(name, tf, size)</div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> , observer_mask_(std::bitset<3>(0))</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"> 10</span>  </div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79"> 10</a></span> <span class="keywordtype">bool</span> <a class="code" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot::checkSingleObjectCollision</a>(tf2::Transform& obj, std::string& str, std::bitset<3>& panel_mask){</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="l00012"></a><span class="lineno"> 12</span>  <span class="comment">// 1. Root joint check</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  tf2::Transform A = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a> * <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>[0];</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  tf2::Transform B = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a> * <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>[1];</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  tf2::Transform C = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a> * <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>[2];</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  tf2::Transform D = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a> * <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,B,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,D,C);</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,obj,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,obj,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,obj,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keywordflow">if</span> ((std::floor(sum*1000)/1000.f) <= full_area) {<span class="keywordflow">return</span> <span class="keyword">false</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="comment">// 2. table_top check</span></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>  std::regex rx(<span class="stringliteral">"panda_arm([0-9]+)"</span>);</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  std::smatch match;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::regex_match(str, match, rx);</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>  ss << <span class="stringliteral">"base_"</span> << match[1]; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  A = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[0];</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  B = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[1];</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  C = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[2];</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  D = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[3];</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  full_area = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,B,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,D,C);</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,obj,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,obj,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,obj,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordflow">if</span> ((std::floor(sum*1000)/1000.f) <= full_area){</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  ROS_INFO(<span class="stringliteral">"%f %f, %f"</span>, std::floor(sum*1000)/1000.f, full_area, sum);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  str = ss.str();</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  <span class="comment">// 3. panel collsision check</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">for</span>(std::size_t i = 0; i < <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>.size(); i++){</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordflow">if</span>(<a class="code" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">observer_mask_</a>[i] & panel_mask[i]){</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  tf2::Transform A = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[0];</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  tf2::Transform B = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[1];</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  tf2::Transform C = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[2];</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  tf2::Transform D = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[3];</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>  full_area = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,B,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,D,C);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,obj,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,obj,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,obj,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(obj, B, A);</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> ((std::floor(sum*1000)/1000.f) <= full_area) {</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  str = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->name();</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">return</span> <span class="keyword">false</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>  </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f"> 63</a></span> <span class="keywordtype">void</span> <a class="code" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">CetiRobot::reset</a>(){</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>.clear();</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0, <a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>().getOrigin().getZ()));</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> }</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c"> 68</a></span> <span class="keywordtype">void</span> <a class="code" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot::notify</a>(){ </div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>.size(); i++) <span class="keywordflow">if</span>(<a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]) <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->update(<a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a>); </div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// for(int i = 0; i < access_fields_.size(); i++) access_fields_[i]->update(tf_);</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"><a class="line" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5"> 73</a></span> <span class="keywordtype">bool</span> <a class="code" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">CetiRobot::inCollision</a>(<a class="code" href="classCetiRobot.html">CetiRobot</a>* rob){</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  tf2::Transform A = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[0];</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  tf2::Transform B = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[1];</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  tf2::Transform C = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[2];</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  tf2::Transform D = <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a> * <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>[3];</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="keywordtype">float</span> full_area = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,B,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,D,C);</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">float</span> sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,rob-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>(),D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,rob-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>(),C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,rob-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>(),B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(rob-><a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>(), B, A);</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</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="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 class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>().<a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>(); i++) {</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  tf2::Transform WA = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->worldTf() * rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->bounds()[0];</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  tf2::Transform WB = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->worldTf() * rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->bounds()[1];</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  tf2::Transform WC = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->worldTf() * rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->bounds()[2];</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  tf2::Transform WD = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->worldTf() * rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[i]->bounds()[3];</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,WA,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,WA,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,WA,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00089"></a><span class="lineno"> 89</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,WB,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,WB,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,WB,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00090"></a><span class="lineno"> 90</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,WC,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,WC,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,WC,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00091"></a><span class="lineno"> 91</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(A,WD,D) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(D,WD,C) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(C,WD,B) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00092"></a><span class="lineno"> 92</span>  }</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>.size(); i++){</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  tf2::Transform WA = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[0];</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  tf2::Transform WB = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[1];</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  tf2::Transform WC = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[2];</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  tf2::Transform WD = <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[i]->bounds()[3];</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>  full_area = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WA,WB,WC) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WA,WD,WC);</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 < rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>().<a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>(); j++) {</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  tf2::Transform WA2 = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[j]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[j]->bounds()[0];</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  tf2::Transform WB2 = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[j]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[j]->bounds()[1];</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  tf2::Transform WC2 = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[j]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[j]->bounds()[2];</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  tf2::Transform WD2 = rob-><a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()[j]->worldTf() * <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>[j]->bounds()[3];</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WA,WA2,WD) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WD,WA2,WC) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WC,WA2,WB) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00107"></a><span class="lineno"> 107</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WA,WB2,WD) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WD,WB2,WC) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WC,WB2,WB) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00108"></a><span class="lineno"> 108</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WA,WC2,WD) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WD,WC2,WC) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WC,WC2,WB) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="l00109"></a><span class="lineno"> 109</span>  sum = <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WA,WD2,WD) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WD,WD2,WC) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(WC,WD2,WB) + <a class="code" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</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="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="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</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="aclassCetiRobot_html_a0ea161092fdc570497c5a94554e2ee50"><div class="ttname"><a href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">CetiRobot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< AbstractRobotElementDecorator > > & observers()</div><div class="ttdoc">Get observers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00053">ceti_robot.h:53</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aff35711aae4f6c1f67370666bd8328c5"><div class="ttname"><a href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">CetiRobot::inCollision</a></div><div class="ttdeci">bool inCollision(CetiRobot *R)</div><div class="ttdoc">Collsion calculation.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00073">ceti_robot.cpp:73</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_afb7a1aa241b2fd7897d842da3eb17f26"><div class="ttname"><a href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">CetiRobot::observers_</a></div><div class="ttdeci">std::vector< std::unique_ptr< AbstractRobotElementDecorator > > observers_</div><div class="ttdoc">Wing shared pointers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00016">ceti_robot.h:16</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>
+<div class="ttc" id="aclassAbstractRobot_html_a7456945dfc21ee6cc53bd05c932d95b1"><div class="ttname"><a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">AbstractRobot::areaCalculation</a></div><div class="ttdeci">float areaCalculation(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="aclassAbstractRobot_html_a6e3c9f8635200012425072be65633a4e"><div class="ttname"><a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">AbstractRobot::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="abstract__robot_8h_source.html#l00031">abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_ab489d27cc52734c8d2fd2fb11917a26c"><div class="ttname"><a href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot::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#l00068">ceti_robot.cpp:68</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a497e644a1776b6cd73b8d3f225e39c6a"><div class="ttname"><a href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">CetiRobot::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#l00017">ceti_robot.h:17</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_ae06d6a61f22ab0a49d4d49006815663f"><div class="ttname"><a href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">CetiRobot::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#l00063">ceti_robot.cpp:63</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a2c8771686cd69c4986feea6e6fdd9e76"><div class="ttname"><a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">AbstractRobot::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="abstract__robot_8h_source.html#l00030">abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html"><div class="ttname"><a href="classAbstractRobot.html">AbstractRobot</a></div><div class="ttdoc">Abstract Robot implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00025">abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a7129c9941dd3d638b1f7916302814031"><div class="ttname"><a href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot::CetiRobot</a></div><div class="ttdeci">CetiRobot(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#l00004">ceti_robot.cpp:4</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aa6c0a4be3271f80cd721a0229c4e821f"><div class="ttname"><a href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00034">ceti_robot.h:34</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aec53b09b5915dd3f444567a5fb821f79"><div class="ttname"><a href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot::checkSingleObjectCollision</a></div><div class="ttdeci">bool checkSingleObjectCollision(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</div><div class="ttdoc">Collsion calculation for single objects.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00010">ceti_robot.cpp:10</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_ab2f383d6e9fccdb649441ac67f457f21"><div class="ttname"><a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">AbstractRobot::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="abstract__robot_8h_source.html#l00029">abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a153ed782c15db3966bea479d4e5917f3"><div class="ttname"><a href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00033">ceti_robot.h:33</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a13f598496fdae9b2f881a494d4737fc4"><div class="ttname"><a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">AbstractRobot::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="abstract__robot_8h_source.html#l00032">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/ceti__robot_8h.html b/doc/html/ceti__robot_8h.html
index 14a01d89288a43f5922b5548c2d1d5134af0f691..4be2d007f81c7a30374e68373b7d89d51c8f55df 100644
--- a/doc/html/ceti__robot_8h.html
+++ b/doc/html/ceti__robot_8h.html
@@ -28,36 +28,23 @@ $(function() {
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include "ros/ros.h"</code><br />
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-<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="abstract__robot_8h_source.html">robot/abstract_robot.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__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">
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Classes</h2></td></tr>
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-<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html">CetiRobot</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Concrete Ceti-Robot. <a href="classCetiRobot.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -89,7 +81,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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index 55986f416f7a434bac29a7358b2f2e973b28a084..cd17d23f9f0db85a8585ea3ed64a6a8eeb0328bf 100644
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@@ -29,127 +29,99 @@ $(function() {
<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>
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+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__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__element_8h.html">robot_element/abstract_robot_element.h</a>"</span></div>
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-<div class="line"><a name="l00017"></a><span class="lineno"> 17</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>
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+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a"> 17</a></span>  std::bitset<3> <a class="code" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">observer_mask_</a>;</div>
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-<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="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="l00028"></a><span class="lineno"> 28</span>  <a class="code" href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot</a>(std::string& <a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>, tf2::Transform <a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>, tf2::Vector3 <a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>);</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
-<div class="line"><a name="l00030"></a><span class="lineno"> 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="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="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992"> 32</a></span>  std::string& <a class="code" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a>;}</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3"> 33</a></span>  tf2::Transform& <a class="code" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a>;}</div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f"> 34</a></span>  tf2::Vector3& <a class="code" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a>;}</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8"> 35</a></span>  tf2::Transform& <a class="code" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">rootTf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a>;}</div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551"> 36</a></span>  std::vector<tf2::Transform>& <a class="code" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">bounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a>;}</div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd"> 37</a></span>  std::vector<tf2::Transform>& <a class="code" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">robotRootBounds</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</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>  </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="l00043"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a0d00ded41398ce27f591581515630877"> 43</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">setObservers</a>(std::vector<std::unique_ptr<AbstractRobotElementDecorator>>& observer) { </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 < observer.size();i++){</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a>.push_back(std::move(observer[i]));</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="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="l00053"></a><span class="lineno"><a class="line" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50"> 53</a></span>  <span class="keyword">inline</span> std::vector<std::unique_ptr<AbstractRobotElementDecorator>>& <a class="code" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>() { <span class="keywordflow">return</span> <a class="code" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">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="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">void</span> <a class="code" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">reset</a>();</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="l00064"></a><span class="lineno"> 64</span>  <span class="keywordtype">bool</span> <a class="code" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">inCollision</a>(<a class="code" href="classCetiRobot.html">CetiRobot</a>* R);</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">bool</span> <a class="code" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">checkSingleObjectCollision</a>(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) <span class="keyword">override</span>;</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"> 80</span>  <span class="keywordtype">void</span> <a class="code" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">notify</a>() <span class="keyword">override</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"><a class="line" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e"> 82</a></span>  <span class="keyword">inline</span> std::bitset<3> <a class="code" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>() {<span class="keywordflow">return</span> <a class="code" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">observer_mask_</a>;}</div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64"> 83</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(<span class="keywordtype">int</span> i) {<a class="code" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">observer_mask_</a> = std::bitset<3>(i);}</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="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 class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> };</div>
+<div 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>  </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="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="aclassCetiRobot_html_a0ea161092fdc570497c5a94554e2ee50"><div class="ttname"><a href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">CetiRobot::observers</a></div><div class="ttdeci">std::vector< std::unique_ptr< AbstractRobotElementDecorator > > & observers()</div><div class="ttdoc">Get observers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00053">ceti_robot.h:53</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aff35711aae4f6c1f67370666bd8328c5"><div class="ttname"><a href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">CetiRobot::inCollision</a></div><div class="ttdeci">bool inCollision(CetiRobot *R)</div><div class="ttdoc">Collsion calculation.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00073">ceti_robot.cpp:73</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_af0c39df122cc6a567624184b893c3b64"><div class="ttname"><a href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot::setObserverMask</a></div><div class="ttdeci">void setObserverMask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00083">ceti_robot.h:83</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_afb7a1aa241b2fd7897d842da3eb17f26"><div class="ttname"><a href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">CetiRobot::observers_</a></div><div class="ttdeci">std::vector< std::unique_ptr< AbstractRobotElementDecorator > > observers_</div><div class="ttdoc">Wing shared pointers.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00016">ceti_robot.h:16</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a0d00ded41398ce27f591581515630877"><div class="ttname"><a href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">CetiRobot::setObservers</a></div><div class="ttdeci">void setObservers(std::vector< std::unique_ptr< AbstractRobotElementDecorator >> &observer)</div><div class="ttdoc">Set observers.</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="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a6e3c9f8635200012425072be65633a4e"><div class="ttname"><a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">AbstractRobot::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="abstract__robot_8h_source.html#l00031">abstract_robot.h:31</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_ab489d27cc52734c8d2fd2fb11917a26c"><div class="ttname"><a href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot::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#l00068">ceti_robot.cpp:68</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a497e644a1776b6cd73b8d3f225e39c6a"><div class="ttname"><a href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">CetiRobot::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#l00017">ceti_robot.h:17</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_ae06d6a61f22ab0a49d4d49006815663f"><div class="ttname"><a href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">CetiRobot::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#l00063">ceti_robot.cpp:63</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a2c8771686cd69c4986feea6e6fdd9e76"><div class="ttname"><a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">AbstractRobot::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="abstract__robot_8h_source.html#l00030">abstract_robot.h:30</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a56c4d8b5889f12b26f06b186d896b0d8"><div class="ttname"><a href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">CetiRobot::rootTf</a></div><div class="ttdeci">tf2::Transform & rootTf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00035">ceti_robot.h:35</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html"><div class="ttname"><a href="classAbstractRobot.html">AbstractRobot</a></div><div class="ttdoc">Abstract Robot implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00025">abstract_robot.h:25</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a7129c9941dd3d638b1f7916302814031"><div class="ttname"><a href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot::CetiRobot</a></div><div class="ttdeci">CetiRobot(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#l00004">ceti_robot.cpp:4</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a7a57e87b0c6d8e471901ec5b16b6b44e"><div class="ttname"><a href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">CetiRobot::observerMask</a></div><div class="ttdeci">std::bitset< 3 > observerMask()</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00082">ceti_robot.h:82</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aa6c0a4be3271f80cd721a0229c4e821f"><div class="ttname"><a href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot::size</a></div><div class="ttdeci">tf2::Vector3 & size() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00034">ceti_robot.h:34</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a95281ac8e16b0286e8e54cc780470551"><div class="ttname"><a href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">CetiRobot::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#l00036">ceti_robot.h:36</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_aec53b09b5915dd3f444567a5fb821f79"><div class="ttname"><a href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot::checkSingleObjectCollision</a></div><div class="ttdeci">bool checkSingleObjectCollision(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</div><div class="ttdoc">Collsion calculation for single objects.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8cpp_source.html#l00010">ceti_robot.cpp:10</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_ab2f383d6e9fccdb649441ac67f457f21"><div class="ttname"><a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">AbstractRobot::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="abstract__robot_8h_source.html#l00029">abstract_robot.h:29</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a6573899bb57e886d4d3aea1952682992"><div class="ttname"><a href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">CetiRobot::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00032">ceti_robot.h:32</a></div></div>
+<div class="ttc" id="aabstract__robot__element__decorator_8h_html"><div class="ttname"><a href="abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a1d10e70945cee096beee20d3c5d722dd"><div class="ttname"><a href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">CetiRobot::robotRootBounds</a></div><div class="ttdeci">std::vector< tf2::Transform > & robotRootBounds() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00037">ceti_robot.h:37</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_a153ed782c15db3966bea479d4e5917f3"><div class="ttname"><a href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot::tf</a></div><div class="ttdeci">tf2::Transform & tf() override</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00033">ceti_robot.h:33</a></div></div>
<div class="ttc" id="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>
+<div class="ttc" id="aclassAbstractRobot_html_a4c67a63e89e2e2fb7915adfc44e8930b"><div class="ttname"><a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">AbstractRobot::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="abstract__robot_8h_source.html#l00027">abstract_robot.h:27</a></div></div>
+<div class="ttc" id="aabstract__robot__element_8h_html"><div class="ttname"><a href="abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_af9c9ba20329199e5d1722a681f2087e9"><div class="ttname"><a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">AbstractRobot::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="abstract__robot_8h_source.html#l00028">abstract_robot.h:28</a></div></div>
+<div class="ttc" id="aclassAbstractRobot_html_a13f598496fdae9b2f881a494d4737fc4"><div class="ttname"><a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">AbstractRobot::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="abstract__robot_8h_source.html#l00032">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classAbstractBase-members.html b/doc/html/classAbstractBase-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..8fda3c1e140bb2c6e86a0873b3fbf523a2ec9f5f
--- /dev/null
+++ b/doc/html/classAbstractBase-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">AbstractBase Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractBase.html">AbstractBase</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a>(std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">baseCalculation</a>()=0</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">createPCLBox</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">invMap</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">nh_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">setImplementation</a>(std::shared_ptr< AbstractBaseImplementation > implementation)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">setInvMap</a>(std::vector< tf2::Transform > &inv_map)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">setMap</a>(std::vector< tf2::Transform > &map)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">setResult</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &result)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">setTargetCloud</a>(std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">setTaskSpace</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="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">targetCloud</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">taskSpace</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractBase.html b/doc/html/classAbstractBase.html
new file mode 100644
index 0000000000000000000000000000000000000000..3d84551efef49428319f7da2876f9b46a26dc010
--- /dev/null
+++ b/doc/html/classAbstractBase.html
@@ -0,0 +1,736 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: AbstractBase 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="classAbstractBase-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>AbstractBaseClass.
+ <a href="classAbstractBase.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 AbstractBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractBase__inherit__graph.png" border="0" usemap="#AbstractBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractBase_inherit__map" id="AbstractBase_inherit__map">
+<area shape="rect" title="AbstractBaseClass." alt="" coords="5,5,113,32"/>
+<area shape="rect" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase." alt="" coords="10,80,109,107"/>
+</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:a1458e9649f0b5648ddb21c7bcbbf64d1"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a> (std::shared_ptr< ros::NodeHandle > const &nh)</td></tr>
+<tr class="memdesc:a1458e9649f0b5648ddb21c7bcbbf64d1"><td class="mdescLeft"> </td><td class="mdescRight">constructor <a href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">More...</a><br /></td></tr>
+<tr class="separator:a1458e9649f0b5648ddb21c7bcbbf64d1"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab29d5601f63747bd5716af34b69b1657"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">baseCalculation</a> ()=0</td></tr>
+<tr class="memdesc:ab29d5601f63747bd5716af34b69b1657"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual template methode <a href="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">More...</a><br /></td></tr>
+<tr class="separator:ab29d5601f63747bd5716af34b69b1657"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aca91c42c8d4ca13f51025de8e4c5d330"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a> ()</td></tr>
+<tr class="separator:aca91c42c8d4ca13f51025de8e4c5d330"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6beb9d8d621b1f931d8e7dfd8033147f"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">invMap</a> ()</td></tr>
+<tr class="separator:a6beb9d8d621b1f931d8e7dfd8033147f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6bdc2aa838420f10ef770462a7b3c9be"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a> ()</td></tr>
+<tr class="separator:a6bdc2aa838420f10ef770462a7b3c9be"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeacda40d37c21c372f852aff0ebcef1d"><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="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a> ()</td></tr>
+<tr class="separator:aeacda40d37c21c372f852aff0ebcef1d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0680387079016eb6900dfa8cbd9f2820"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">setImplementation</a> (std::shared_ptr< <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> > <a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>)</td></tr>
+<tr class="separator:a0680387079016eb6900dfa8cbd9f2820"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a75f9729d34f483b2174f127305fa0968"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">setInvMap</a> (std::vector< tf2::Transform > &inv_map)</td></tr>
+<tr class="separator:a75f9729d34f483b2174f127305fa0968"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a86e2a8c1150c3aaec3b70d148e3611c2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">setMap</a> (std::vector< tf2::Transform > &<a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>)</td></tr>
+<tr class="separator:a86e2a8c1150c3aaec3b70d148e3611c2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae4b06c34ce6ad789c3db35dbc072d59e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">setResult</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &<a class="el" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>)</td></tr>
+<tr class="separator:ae4b06c34ce6ad789c3db35dbc072d59e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6f798cb5806247f4549efab45596797d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">setTargetCloud</a> (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td></tr>
+<tr class="separator:a6f798cb5806247f4549efab45596797d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a129121e9e3ea6a57d6f0c05938050deb"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">setTaskSpace</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="separator:a129121e9e3ea6a57d6f0c05938050deb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a57ddd9cadb2301b86055c5c321acb390"><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="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">targetCloud</a> ()</td></tr>
+<tr class="separator:a57ddd9cadb2301b86055c5c321acb390"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a92098cb30708dcaf486f0215f290b58f"><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="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">taskSpace</a> ()</td></tr>
+<tr class="separator:a92098cb30708dcaf486f0215f290b58f"><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:a5b533569dfc28bac7fa8b535e57e81db"><td class="memItemLeft" align="right" valign="top">static std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">createPCLBox</a> ()</td></tr>
+<tr class="memdesc:a5b533569dfc28bac7fa8b535e57e81db"><td class="mdescLeft"> </td><td class="mdescRight">createPCLBox box <a href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">More...</a><br /></td></tr>
+<tr class="separator:a5b533569dfc28bac7fa8b535e57e81db"><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:aabdd4fed67cfd7af450c01ea3f807f5d"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a></td></tr>
+<tr class="memdesc:aabdd4fed67cfd7af450c01ea3f807f5d"><td class="mdescLeft"> </td><td class="mdescRight">refined implementation <a href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">More...</a><br /></td></tr>
+<tr class="separator:aabdd4fed67cfd7af450c01ea3f807f5d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d7b577f01558c9cc6bd773785980ed2"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a></td></tr>
+<tr class="memdesc:a4d7b577f01558c9cc6bd773785980ed2"><td class="mdescLeft"> </td><td class="mdescRight">InverseReachabilityMap structure (Zacharias) <a href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">More...</a><br /></td></tr>
+<tr class="separator:a4d7b577f01558c9cc6bd773785980ed2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a448dc5bc37511aba7c74fe3816ee12f3"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a></td></tr>
+<tr class="memdesc:a448dc5bc37511aba7c74fe3816ee12f3"><td class="mdescLeft"> </td><td class="mdescRight">ReachabilityMap structure (Zacharias) <a href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">More...</a><br /></td></tr>
+<tr class="separator:a448dc5bc37511aba7c74fe3816ee12f3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a33cd7973db1e3e56909190ff1b0b7865"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">nh_</a></td></tr>
+<tr class="memdesc:a33cd7973db1e3e56909190ff1b0b7865"><td class="mdescLeft"> </td><td class="mdescRight">Nodehandle for access to the Rosparam server. <a href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">More...</a><br /></td></tr>
+<tr class="separator:a33cd7973db1e3e56909190ff1b0b7865"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a97cc32b484ddbe12765c7fcba6860b85"><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="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a></td></tr>
+<tr class="memdesc:a97cc32b484ddbe12765c7fcba6860b85"><td class="mdescLeft"> </td><td class="mdescRight">Result basepositions, mapped to robot. <a href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">More...</a><br /></td></tr>
+<tr class="separator:a97cc32b484ddbe12765c7fcba6860b85"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3f32391c670c3ce6d2e8e1506b6fdee9"><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="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a></td></tr>
+<tr class="memdesc:a3f32391c670c3ce6d2e8e1506b6fdee9"><td class="mdescLeft"> </td><td class="mdescRight">Pointcloud structure, mapped to robot. <a href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">More...</a><br /></td></tr>
+<tr class="separator:a3f32391c670c3ce6d2e8e1506b6fdee9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a37a6df1710f8fc49e933bfb40a0e5833"><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="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a></td></tr>
+<tr class="memdesc:a37a6df1710f8fc49e933bfb40a0e5833"><td class="mdescLeft"> </td><td class="mdescRight">Drop-off locations with their grasp orientations, mapped to a robot. <a href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">More...</a><br /></td></tr>
+<tr class="separator:a37a6df1710f8fc49e933bfb40a0e5833"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>AbstractBaseClass. </p>
+<p>Abstract base class that calls functions of the implementation class members. Its members represent the data structures of the Zacharias concept and enable costume approaches through the design of bridge patterns. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00027">27</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="a1458e9649f0b5648ddb21c7bcbbf64d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1458e9649f0b5648ddb21c7bcbbf64d1">◆ </a></span>AbstractBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractBase::AbstractBase </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>nh</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">nh</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#l00044">44</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="ab29d5601f63747bd5716af34b69b1657"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab29d5601f63747bd5716af34b69b1657">◆ </a></span>baseCalculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractBase::baseCalculation </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>
+
+<p>Implemented in <a class="el" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">SimpleBase</a>.</p>
+
+</div>
+</div>
+<a id="a5b533569dfc28bac7fa8b535e57e81db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b533569dfc28bac7fa8b535e57e81db">◆ </a></span>createPCLBox()</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 > AbstractBase::createPCLBox </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>createPCLBox box </p>
+<p>creates box shaped discretization of space, centered at origin (0,0,0) </p><dl class="section return"><dt>Returns</dt><dd>vector of pcl::PointXYZ data </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8cpp_source.html#l00078">78</a> of file <a class="el" href="simple__base_8cpp_source.html">simple_base.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aca91c42c8d4ca13f51025de8e4c5d330"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca91c42c8d4ca13f51025de8e4c5d330">◆ </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="classAbstractBaseImplementation.html">AbstractBaseImplementation</a>* AbstractBase::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 class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00047">47</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a6beb9d8d621b1f931d8e7dfd8033147f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6beb9d8d621b1f931d8e7dfd8033147f">◆ </a></span>invMap()</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>& AbstractBase::invMap </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__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="a6bdc2aa838420f10ef770462a7b3c9be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6bdc2aa838420f10ef770462a7b3c9be">◆ </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>& AbstractBase::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__base_8h_source.html#l00053">53</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="aeacda40d37c21c372f852aff0ebcef1d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeacda40d37c21c372f852aff0ebcef1d">◆ </a></span>result()</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> >& AbstractBase::result </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__base_8h_source.html#l00049">49</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a0680387079016eb6900dfa8cbd9f2820"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0680387079016eb6900dfa8cbd9f2820">◆ </a></span>setImplementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractBase::setImplementation </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> > </td>
+ <td class="paramname"><em>implementation</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__base_8h_source.html#l00048">48</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a75f9729d34f483b2174f127305fa0968"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75f9729d34f483b2174f127305fa0968">◆ </a></span>setInvMap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractBase::setInvMap </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>inv_map</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__base_8h_source.html#l00052">52</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a86e2a8c1150c3aaec3b70d148e3611c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e2a8c1150c3aaec3b70d148e3611c2">◆ </a></span>setMap()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractBase::setMap </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< tf2::Transform > & </td>
+ <td class="paramname"><em>map</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__base_8h_source.html#l00054">54</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="ae4b06c34ce6ad789c3db35dbc072d59e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4b06c34ce6ad789c3db35dbc072d59e">◆ </a></span>setResult()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractBase::setResult </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< pcl::PointXYZ >> & </td>
+ <td class="paramname"><em>result</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__base_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a6f798cb5806247f4549efab45596797d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f798cb5806247f4549efab45596797d">◆ </a></span>setTargetCloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractBase::setTargetCloud </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 class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00058">58</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a129121e9e3ea6a57d6f0c05938050deb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a129121e9e3ea6a57d6f0c05938050deb">◆ </a></span>setTaskSpace()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractBase::setTaskSpace </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 class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00056">56</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a57ddd9cadb2301b86055c5c321acb390"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57ddd9cadb2301b86055c5c321acb390">◆ </a></span>targetCloud()</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> >& AbstractBase::targetCloud </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__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="a92098cb30708dcaf486f0215f290b58f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a92098cb30708dcaf486f0215f290b58f">◆ </a></span>taskSpace()</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> > > >& AbstractBase::taskSpace </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__base_8h_source.html#l00055">55</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aabdd4fed67cfd7af450c01ea3f807f5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aabdd4fed67cfd7af450c01ea3f807f5d">◆ </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="classAbstractBaseImplementation.html">AbstractBaseImplementation</a>> AbstractBase::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#l00037">37</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a4d7b577f01558c9cc6bd773785980ed2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d7b577f01558c9cc6bd773785980ed2">◆ </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> AbstractBase::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>InverseReachabilityMap structure (Zacharias) </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="a448dc5bc37511aba7c74fe3816ee12f3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a448dc5bc37511aba7c74fe3816ee12f3">◆ </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> AbstractBase::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>ReachabilityMap structure (Zacharias) </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base_8h_source.html#l00030">30</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a33cd7973db1e3e56909190ff1b0b7865"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a33cd7973db1e3e56909190ff1b0b7865">◆ </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> AbstractBase::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>Nodehandle for access to the Rosparam server. </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>
+</div>
+<a id="a97cc32b484ddbe12765c7fcba6860b85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97cc32b484ddbe12765c7fcba6860b85">◆ </a></span>result_</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> > AbstractBase::result_</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 basepositions, mapped to robot. </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="a3f32391c670c3ce6d2e8e1506b6fdee9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f32391c670c3ce6d2e8e1506b6fdee9">◆ </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> > AbstractBase::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#l00033">33</a> of file <a class="el" href="abstract__base_8h_source.html">abstract_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a37a6df1710f8fc49e933bfb40a0e5833"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a37a6df1710f8fc49e933bfb40a0e5833">◆ </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> > > > AbstractBase::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#l00032">32</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 files:<ul>
+<li><a class="el" href="abstract__base_8h_source.html">abstract_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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractBaseImplementation-members.html b/doc/html/classAbstractBaseImplementation-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..c512cfa88345c8cdafb085638bf31b82aaa21970
--- /dev/null
+++ b/doc/html/classAbstractBaseImplementation-members.html
@@ -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">AbstractBaseImplementation Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation</a>()=default</td><td class="entry"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">cloudCalculation</a>(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</td><td class="entry"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">invMapCreation</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="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">setGraspOrientations</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="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">~AbstractBaseImplementation</a>()=default</td><td class="entry"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractBaseImplementation.html b/doc/html/classAbstractBaseImplementation.html
new file mode 100644
index 0000000000000000000000000000000000000000..30bf0c6f26c557dfce4d71ee9af62a47dc4bb37d
--- /dev/null
+++ b/doc/html/classAbstractBaseImplementation.html
@@ -0,0 +1,271 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: AbstractBaseImplementation 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="classAbstractBaseImplementation-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractBaseImplementation Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstract base implementation.
+ <a href="classAbstractBaseImplementation.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 AbstractBaseImplementation:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractBaseImplementation__inherit__graph.png" border="0" usemap="#AbstractBaseImplementation_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractBaseImplementation_inherit__map" id="AbstractBaseImplementation_inherit__map">
+<area shape="rect" title="Abstract base implementation." alt="" coords="5,5,217,32"/>
+<area shape="rect" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation." alt="" coords="10,80,213,107"/>
+</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:a5fa7fc17adff1ffa369ba838e84105cd"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation</a> ()=default</td></tr>
+<tr class="separator:a5fa7fc17adff1ffa369ba838e84105cd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8b67007295cf1886c29be65fe7ed567b"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">cloudCalculation</a> (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, std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &target_cloud)=0</td></tr>
+<tr class="memdesc:a8b67007295cf1886c29be65fe7ed567b"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual methode to calculate pcl clouds <a href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">More...</a><br /></td></tr>
+<tr class="separator:a8b67007295cf1886c29be65fe7ed567b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab1ce0fc309cd3870ed5fddbf77b53fe8"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">invMapCreation</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:ab1ce0fc309cd3870ed5fddbf77b53fe8"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual methode to calculate the inverse map <a href="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">More...</a><br /></td></tr>
+<tr class="separator:ab1ce0fc309cd3870ed5fddbf77b53fe8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8dd0009cc916d3dd7afde8ae7e7a755a"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">setGraspOrientations</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:a8dd0009cc916d3dd7afde8ae7e7a755a"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual methode to set grasp orientations <a href="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">More...</a><br /></td></tr>
+<tr class="separator:a8dd0009cc916d3dd7afde8ae7e7a755a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abb5172709cdc196c327e54e1d7b7b685"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">~AbstractBaseImplementation</a> ()=default</td></tr>
+<tr class="separator:abb5172709cdc196c327e54e1d7b7b685"><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 concept implementation for calculating base position by inverse maps. The template allows to set custom handle orientations for specific objects, inverse map and cloud construction. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__base__implementation_8h_source.html#l00012">12</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="a5fa7fc17adff1ffa369ba838e84105cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5fa7fc17adff1ffa369ba838e84105cd">◆ </a></span>AbstractBaseImplementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractBaseImplementation::AbstractBaseImplementation </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="abb5172709cdc196c327e54e1d7b7b685"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb5172709cdc196c327e54e1d7b7b685">◆ </a></span>~AbstractBaseImplementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractBaseImplementation::~AbstractBaseImplementation </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="a8b67007295cf1886c29be65fe7ed567b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b67007295cf1886c29be65fe7ed567b">◆ </a></span>cloudCalculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractBaseImplementation::cloudCalculation </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 class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> & </td>
+ <td class="paramname"><em>target_cloud</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 calculate pcl clouds </p>
+<p>Manipulates the vector of pcl::cloud of a graspable object </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <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>
+ <tr><td class="paramname">target_cloud</td><td>reference to manipulate member </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">SimpleBaseImplementation</a>.</p>
+
+</div>
+</div>
+<a id="ab1ce0fc309cd3870ed5fddbf77b53fe8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab1ce0fc309cd3870ed5fddbf77b53fe8">◆ </a></span>invMapCreation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractBaseImplementation::invMapCreation </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 calculate the 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="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">SimpleBaseImplementation</a>.</p>
+
+</div>
+</div>
+<a id="a8dd0009cc916d3dd7afde8ae7e7a755a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8dd0009cc916d3dd7afde8ae7e7a755a">◆ </a></span>setGraspOrientations()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractBaseImplementation::setGraspOrientations </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="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">SimpleBaseImplementation</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+++ b/doc/html/classAbstractMediator-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">AbstractMediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractMediator.html">AbstractMediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot)=0</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">mediate</a>()=0</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">setPanel</a>()=0</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</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: AbstractMediator 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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+ initMenu('',false,false,'search.php','Search');
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+/* @license-end */</script>
+<div id="main-nav"></div>
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+<div class="header">
+ <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> |
+<a href="#pro-attribs">Protected Attributes</a> |
+<a href="classAbstractMediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractMediator Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a>.
+ <a href="classAbstractMediator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for AbstractMediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractMediator__inherit__graph.png" border="0" usemap="#AbstractMediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractMediator_inherit__map" id="AbstractMediator_inherit__map">
+<area shape="rect" title="AbstractMediator." alt="" coords="120,5,255,32"/>
+<area shape="rect" href="classBaseCalculationMediator.html" title="Concrete Mediator." alt="" coords="5,80,191,107"/>
+<area shape="rect" href="classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="215,80,341,107"/>
+</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:af50d0f408fcef5404043ba49627b42a1"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:af50d0f408fcef5404043ba49627b42a1"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">More...</a><br /></td></tr>
+<tr class="separator:af50d0f408fcef5404043ba49627b42a1"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab33c369fe48c88295f9cbdcabe68ddad"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">connectRobots</a> (std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > robot)=0</td></tr>
+<tr class="memdesc:ab33c369fe48c88295f9cbdcabe68ddad"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual robot connecting methode <a href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">More...</a><br /></td></tr>
+<tr class="separator:ab33c369fe48c88295f9cbdcabe68ddad"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2e0808dd0543e36562ff7074241a37c6"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr>
+<tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr>
+<tr class="separator:a2e0808dd0543e36562ff7074241a37c6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a135b24638b57ae0d7b01c436a333f3d3"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">mediate</a> ()=0</td></tr>
+<tr class="memdesc:a135b24638b57ae0d7b01c436a333f3d3"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual mediate methode <a href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">More...</a><br /></td></tr>
+<tr class="separator:a135b24638b57ae0d7b01c436a333f3d3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abfeda444314311dd931237ff8eea943d"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a> ()</td></tr>
+<tr class="memdesc:abfeda444314311dd931237ff8eea943d"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">More...</a><br /></td></tr>
+<tr class="separator:abfeda444314311dd931237ff8eea943d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad5f1373899bb6bec89a51e3295bac45e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classRobotReader.html">RobotReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a> ()</td></tr>
+<tr class="memdesc:ad5f1373899bb6bec89a51e3295bac45e"><td class="mdescLeft"> </td><td class="mdescRight">Get Robot_reader. <a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">More...</a><br /></td></tr>
+<tr class="separator:ad5f1373899bb6bec89a51e3295bac45e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6b7c63d2283d9a34cfe53c75bc6294e8"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a> ()</td></tr>
+<tr class="memdesc:a6b7c63d2283d9a34cfe53c75bc6294e8"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">More...</a><br /></td></tr>
+<tr class="separator:a6b7c63d2283d9a34cfe53c75bc6294e8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a14fb98326c6c14fceb9b7b4749490afd"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a14fb98326c6c14fceb9b7b4749490afd"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">More...</a><br /></td></tr>
+<tr class="separator:a14fb98326c6c14fceb9b7b4749490afd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2ddf9436b7443a7a45fb5b60a7c6ce2b"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">setPanel</a> ()=0</td></tr>
+<tr class="memdesc:a2ddf9436b7443a7a45fb5b60a7c6ce2b"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual Sets panels for robots <a href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">More...</a><br /></td></tr>
+<tr class="separator:a2ddf9436b7443a7a45fb5b60a7c6ce2b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0d4451e49f9e7953ca5e32126b597619"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:a0d4451e49f9e7953ca5e32126b597619"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">More...</a><br /></td></tr>
+<tr class="separator:a0d4451e49f9e7953ca5e32126b597619"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae42784e8435ca6ebec2bc1af1f32ce02"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:ae42784e8435ca6ebec2bc1af1f32ce02"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">More...</a><br /></td></tr>
+<tr class="separator:ae42784e8435ca6ebec2bc1af1f32ce02"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72eec7045a30201e1b8e2efa3f3c0855"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classWingReader.html">WingReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a> ()</td></tr>
+<tr class="memdesc:a72eec7045a30201e1b8e2efa3f3c0855"><td class="mdescLeft"> </td><td class="mdescRight">Get Wing_reader. <a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">More...</a><br /></td></tr>
+<tr class="separator:a72eec7045a30201e1b8e2efa3f3c0855"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0158088e933cb5031370809db6132d07"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a> ()</td></tr>
+<tr class="memdesc:a0158088e933cb5031370809db6132d07"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">More...</a><br /></td></tr>
+<tr class="separator:a0158088e933cb5031370809db6132d07"><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:a93c390745716f6a5b2920c8ffaa58b3d"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr>
+<tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr>
+<tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6caa36a0e7ca24bc97a9558cf46c72ad"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td></tr>
+<tr class="memdesc:a6caa36a0e7ca24bc97a9558cf46c72ad"><td class="mdescLeft"> </td><td class="mdescRight">Nodehandle for access to the Rosparam server. <a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">More...</a><br /></td></tr>
+<tr class="separator:a6caa36a0e7ca24bc97a9558cf46c72ad"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac6e8ea822143df20ec6ecec2ff1603db"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Transform > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td></tr>
+<tr class="memdesc:ac6e8ea822143df20ec6ecec2ff1603db"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">More...</a><br /></td></tr>
+<tr class="separator:ac6e8ea822143df20ec6ecec2ff1603db"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3c7679cefd8f5ef8e208224745f8aac4"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td></tr>
+<tr class="memdesc:a3c7679cefd8f5ef8e208224745f8aac4"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">More...</a><br /></td></tr>
+<tr class="separator:a3c7679cefd8f5ef8e208224745f8aac4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2fb941ec8ffe4da38ace5e4d504268f5"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classRobotReader.html">RobotReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td></tr>
+<tr class="memdesc:a2fb941ec8ffe4da38ace5e4d504268f5"><td class="mdescLeft"> </td><td class="mdescRight">Robot_reader which collects robot poses. <a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">More...</a><br /></td></tr>
+<tr class="separator:a2fb941ec8ffe4da38ace5e4d504268f5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48ef097d13df349180784869d3210938"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td></tr>
+<tr class="memdesc:a48ef097d13df349180784869d3210938"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">More...</a><br /></td></tr>
+<tr class="separator:a48ef097d13df349180784869d3210938"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4786aa6941e2776476ca71829d771faa"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTSReader.html">TSReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td></tr>
+<tr class="memdesc:a4786aa6941e2776476ca71829d771faa"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">More...</a><br /></td></tr>
+<tr class="separator:a4786aa6941e2776476ca71829d771faa"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af90b3b692b2edfbb68bba2412e54a907"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classWingReader.html">WingReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td></tr>
+<tr class="memdesc:af90b3b692b2edfbb68bba2412e54a907"><td class="mdescLeft"> </td><td class="mdescRight">Wing_reader which collects panel information of robots. <a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">More...</a><br /></td></tr>
+<tr class="separator:af90b3b692b2edfbb68bba2412e54a907"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b24efa2ec432e60f25c6a54970775fc"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td></tr>
+<tr class="separator:a9b24efa2ec432e60f25c6a54970775fc"><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="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a>. </p>
+<p>Abstraction of a Mediator which registers Robots. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00041">41</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="af50d0f408fcef5404043ba49627b42a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af50d0f408fcef5404043ba49627b42a1">◆ </a></span>AbstractMediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractMediator::AbstractMediator </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="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> 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="abstract__mediator_8cpp_source.html#l00003">3</a> of file <a class="el" href="abstract__mediator_8cpp_source.html">abstract_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab33c369fe48c88295f9cbdcabe68ddad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab33c369fe48c88295f9cbdcabe68ddad">◆ </a></span>connectRobots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractMediator::connectRobots </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > </td>
+ <td class="paramname"><em>robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">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="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a>, and <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</a>.</p>
+
+</div>
+</div>
+<a id="a2e0808dd0543e36562ff7074241a37c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e0808dd0543e36562ff7074241a37c6">◆ </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& AbstractMediator::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="abstract__mediator_8h_source.html#l00097">97</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a135b24638b57ae0d7b01c436a333f3d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a135b24638b57ae0d7b01c436a333f3d3">◆ </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">virtual void AbstractMediator::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="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a>, and <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a>.</p>
+
+</div>
+</div>
+<a id="abfeda444314311dd931237ff8eea943d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abfeda444314311dd931237ff8eea943d">◆ </a></span>resultVector()</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> >& AbstractMediator::resultVector </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="abstract__mediator_8h_source.html#l00079">79</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad5f1373899bb6bec89a51e3295bac45e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad5f1373899bb6bec89a51e3295bac45e">◆ </a></span>robotReader()</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="classRobotReader.html">RobotReader</a>* AbstractMediator::robotReader </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_reader. </p>
+<dl class="section return"><dt>Returns</dt><dd>robot reader </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00130">130</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a6b7c63d2283d9a34cfe53c75bc6294e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b7c63d2283d9a34cfe53c75bc6294e8">◆ </a></span>robots()</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::unique_ptr<<a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>> >& AbstractMediator::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="abstract__mediator_8h_source.html#l00085">85</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a14fb98326c6c14fceb9b7b4749490afd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a14fb98326c6c14fceb9b7b4749490afd">◆ </a></span>setDirname()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractMediator::setDirname </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="abstract__mediator_8h_source.html#l00091">91</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a2ddf9436b7443a7a45fb5b60a7c6ce2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ddf9436b7443a7a45fb5b60a7c6ce2b">◆ </a></span>setPanel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractMediator::setPanel </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual Sets panels for robots </p>
+
+<p>Implemented in <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a>, and <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a>.</p>
+
+</div>
+</div>
+<a id="a0d4451e49f9e7953ca5e32126b597619"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d4451e49f9e7953ca5e32126b597619">◆ </a></span>setResultVector()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractMediator::setResultVector </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="abstract__mediator_8h_source.html#l00067">67</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ae42784e8435ca6ebec2bc1af1f32ce02"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae42784e8435ca6ebec2bc1af1f32ce02">◆ </a></span>vector2cloud()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">pcl::PointCloud< pcl::PointXYZ >::Ptr AbstractMediator::vector2cloud </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>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8cpp_source.html#l00010">10</a> of file <a class="el" href="abstract__mediator_8cpp_source.html">abstract_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a72eec7045a30201e1b8e2efa3f3c0855"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72eec7045a30201e1b8e2efa3f3c0855">◆ </a></span>wingReader()</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="classWingReader.html">WingReader</a>* AbstractMediator::wingReader </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_reader. </p>
+<dl class="section return"><dt>Returns</dt><dd>wing reader </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00124">124</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a0158088e933cb5031370809db6132d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0158088e933cb5031370809db6132d07">◆ </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::map<const std::string, std::vector<std::unique_ptr<<a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a>> > >& AbstractMediator::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="abstract__mediator_8h_source.html#l00073">73</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a93c390745716f6a5b2920c8ffaa58b3d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93c390745716f6a5b2920c8ffaa58b3d">◆ </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 AbstractMediator::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="abstract__mediator_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a6caa36a0e7ca24bc97a9558cf46c72ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6caa36a0e7ca24bc97a9558cf46c72ad">◆ </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> AbstractMediator::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>Nodehandle for access to the Rosparam server. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00043">43</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac6e8ea822143df20ec6ecec2ff1603db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6e8ea822143df20ec6ecec2ff1603db">◆ </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> > > AbstractMediator::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="abstract__mediator_8h_source.html#l00046">46</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a3c7679cefd8f5ef8e208224745f8aac4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c7679cefd8f5ef8e208224745f8aac4">◆ </a></span>result_vector_</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> > AbstractMediator::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="abstract__mediator_8h_source.html#l00048">48</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a2fb941ec8ffe4da38ace5e4d504268f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fb941ec8ffe4da38ace5e4d504268f5">◆ </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="classRobotReader.html">RobotReader</a>> AbstractMediator::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>Robot_reader which collects robot poses. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00053">53</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a48ef097d13df349180784869d3210938"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48ef097d13df349180784869d3210938">◆ </a></span>robots_</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::unique_ptr<<a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>> > AbstractMediator::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="abstract__mediator_8h_source.html#l00045">45</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a4786aa6941e2776476ca71829d771faa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4786aa6941e2776476ca71829d771faa">◆ </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="classTSReader.html">TSReader</a>> AbstractMediator::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="abstract__mediator_8h_source.html#l00044">44</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="af90b3b692b2edfbb68bba2412e54a907"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af90b3b692b2edfbb68bba2412e54a907">◆ </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="classWingReader.html">WingReader</a>> AbstractMediator::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>Wing_reader which collects panel information of robots. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00052">52</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9b24efa2ec432e60f25c6a54970775fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b24efa2ec432e60f25c6a54970775fc">◆ </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::map<const std::string, std::vector<std::unique_ptr<<a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a>> > > AbstractMediator::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="abstract__mediator_8h_source.html#l00049">49</a> of file <a class="el" href="abstract__mediator_8h_source.html">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="abstract__mediator_8h_source.html">abstract_mediator.h</a></li>
+<li><a class="el" href="abstract__mediator_8cpp_source.html">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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new file mode 100644
index 0000000000000000000000000000000000000000..32d167003bb380656d1e3c3fdc264c2f8d130742
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+++ b/doc/html/classAbstractMediator__inherit__graph.map
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+<area shape="rect" id="node1" title="AbstractMediator." alt="" coords="120,5,255,32"/>
+<area shape="rect" id="node2" href="$classBaseCalculationMediator.html" title="Concrete Mediator." alt="" coords="5,80,191,107"/>
+<area shape="rect" id="node3" href="$classMoveitMediator.html" title="Refined MoveitMediator." alt="" coords="215,80,341,107"/>
+</map>
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new file mode 100644
index 0000000000000000000000000000000000000000..9363ad481ca9a5899785145071c41aeeb5679dfb
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+++ b/doc/html/classAbstractMediator__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/doc/html/classAbstractMediator__inherit__graph.png b/doc/html/classAbstractMediator__inherit__graph.png
new file mode 100644
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diff --git a/doc/html/classAbstract__strategy-members.html b/doc/html/classAbstractParamReader-members.html
similarity index 50%
rename from doc/html/classAbstract__strategy-members.html
rename to doc/html/classAbstractParamReader-members.html
index a21a4ba29c14439e2c93fc31b7eb5cd582bab15e..9d7dc95f4e87b09b6d2cbca65b7a9a8ab7b39393 100644
--- a/doc/html/classAbstract__strategy-members.html
+++ b/doc/html/classAbstractParamReader-members.html
@@ -18,23 +18,23 @@ $(function() {
</div><!-- top -->
<div class="header">
<div class="headertitle">
-<div class="title">Abstract_strategy Member List</div> </div>
+<div class="title">AbstractParamReader 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>
+<p>This is the complete list of members for <a class="el" href="classAbstractParamReader.html">AbstractParamReader</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>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">read</a>()=0</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classAbstract__param__reader.html b/doc/html/classAbstractParamReader.html
similarity index 54%
rename from doc/html/classAbstract__param__reader.html
rename to doc/html/classAbstractParamReader.html
index 79df31e6c87680d2511095a7f668eae1ad61055c..7683f3f2cc23a9baedba48d9da65c404bf5f582d 100644
--- a/doc/html/classAbstract__param__reader.html
+++ b/doc/html/classAbstractParamReader.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Abstract_param_reader Class Reference</title>
+<title>multi_cell_builder: AbstractParamReader 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>
@@ -20,58 +20,58 @@ $(function() {
<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>
+<a href="classAbstractParamReader-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 class="title">AbstractParamReader 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>
+ <a href="classAbstractParamReader.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>
+Inheritance diagram for AbstractParamReader:</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"/>
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-<area shape="rect" href="classTask__space__reader.html" title="Task space reader." alt="" coords="228,208,373,235"/>
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-<area shape="rect" href="classWing__reader.html" title="Wing reader." alt="" coords="249,309,353,336"/>
+<div class="center"><img src="classAbstractParamReader__inherit__graph.png" border="0" usemap="#AbstractParamReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractParamReader_inherit__map" id="AbstractParamReader_inherit__map">
+<area shape="rect" title="Abstract ROS-Param reader class." alt="" coords="347,5,511,32"/>
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+<area shape="rect" href="classMapReader.html" title="Map reader." alt="" coords="255,80,351,107"/>
+<area shape="rect" href="classRobotReader.html" title="Robot reader." alt="" coords="375,80,482,107"/>
+<area shape="rect" href="classTaskSpaceReader.html" title="Task space reader." alt="" coords="506,80,642,107"/>
+<area shape="rect" href="classTSReader.html" title="TS reader." alt="" coords="667,80,751,107"/>
+<area shape="rect" href="classWingReader.html" title="Wing reader." alt="" coords="775,80,877,107"/>
</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: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>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae33429655685fb29175563f381330148"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">read</a> ()=0</td></tr>
+<tr class="memdesc:ae33429655685fb29175563f381330148"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual read methode <a href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">More...</a><br /></td></tr>
+<tr class="separator:ae33429655685fb29175563f381330148"><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>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32"><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>
+<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><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>
+<a id="a76f530a69e2f976e7fb9551163764a3c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76f530a69e2f976e7fb9551163764a3c">◆ </a></span>AbstractParamReader()</h2>
<div class="memitem">
<div class="memproto">
@@ -80,7 +80,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">Abstract_param_reader::Abstract_param_reader </td>
+ <td class="memname">AbstractParamReader::AbstractParamReader </td>
<td>(</td>
<td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
<td class="paramname"><em>d</em></td><td>)</td>
@@ -94,7 +94,7 @@ Protected Attributes</h2></td></tr>
</table>
</div><div class="memdoc">
-<p>Abstract param reader constructor. </p>
+<p><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">d</td><td>ROS Nodehandle </td></tr>
@@ -102,19 +102,19 @@ Protected Attributes</h2></td></tr>
</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>
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00038">38</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>
+<a id="ae72d6da8f6be23dccb89c542edc144b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae72d6da8f6be23dccb89c542edc144b9">◆ </a></span>floatOf()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
- <td class="memname">float Abstract_param_reader::float_of </td>
+ <td class="memname">float AbstractParamReader::floatOf </td>
<td>(</td>
<td class="paramtype">XmlRpc::XmlRpcValue & </td>
<td class="paramname"><em>val</em></td><td>)</td>
@@ -135,8 +135,8 @@ Protected Attributes</h2></td></tr>
</div>
</div>
-<a id="a441ed47eee393cc772f19d4be923e34d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a441ed47eee393cc772f19d4be923e34d">◆ </a></span>read()</h2>
+<a id="ae33429655685fb29175563f381330148"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae33429655685fb29175563f381330148">◆ </a></span>read()</h2>
<div class="memitem">
<div class="memproto">
@@ -145,7 +145,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">virtual void Abstract_param_reader::read </td>
+ <td class="memname">virtual void AbstractParamReader::read </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -160,13 +160,13 @@ Protected Attributes</h2></td></tr>
<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>
+<p>Implemented in <a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader</a>, <a class="el" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">JobReader</a>, <a class="el" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">MapReader</a>, <a class="el" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">RobotReader</a>, <a class="el" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">TSReader</a>, <a class="el" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">WingReader</a>, and <a class="el" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">TaskSpaceReader</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>
+<a id="aaf04f9855d82c373e90f0540892a1d32"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf04f9855d82c373e90f0540892a1d32">◆ </a></span>nh_</h2>
<div class="memitem">
<div class="memproto">
@@ -175,7 +175,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">std::shared_ptr<ros::NodeHandle> Abstract_param_reader::nh_</td>
+ <td class="memname">std::shared_ptr<ros::NodeHandle> AbstractParamReader::nh_</td>
</tr>
</table>
</td>
@@ -187,7 +187,7 @@ Protected Attributes</h2></td></tr>
<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>
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00031">31</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
</div>
</div>
@@ -201,7 +201,7 @@ Protected Attributes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classAbstractParamReader__inherit__graph.map b/doc/html/classAbstractParamReader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..0b697f979287b45461c4512f8b9c7a0f43d9cbca
--- /dev/null
+++ b/doc/html/classAbstractParamReader__inherit__graph.map
@@ -0,0 +1,10 @@
+<map id="AbstractParamReader" name="AbstractParamReader">
+<area shape="rect" id="node1" title="Abstract ROS-Param reader class." alt="" coords="347,5,511,32"/>
+<area shape="rect" id="node2" href="$classCuboidReader.html" title="Cuboid reader." alt="" coords="5,80,119,107"/>
+<area shape="rect" id="node3" href="$classJobReader.html" title="Job reader." alt="" coords="143,80,231,107"/>
+<area shape="rect" id="node4" href="$classMapReader.html" title="Map reader." alt="" coords="255,80,351,107"/>
+<area shape="rect" id="node5" href="$classRobotReader.html" title="Robot reader." alt="" coords="375,80,482,107"/>
+<area shape="rect" id="node6" href="$classTaskSpaceReader.html" title="Task space reader." alt="" coords="506,80,642,107"/>
+<area shape="rect" id="node7" href="$classTSReader.html" title="TS reader." alt="" coords="667,80,751,107"/>
+<area shape="rect" id="node8" href="$classWingReader.html" title="Wing reader." alt="" coords="775,80,877,107"/>
+</map>
diff --git a/doc/html/classAbstractParamReader__inherit__graph.md5 b/doc/html/classAbstractParamReader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..b4347a00d0b907d5ee675e1cef3e0678aa966116
--- /dev/null
+++ b/doc/html/classAbstractParamReader__inherit__graph.md5
@@ -0,0 +1 @@
+c7ce7d0bb5e2197650696ff03dc08a3e
\ No newline at end of file
diff --git a/doc/html/classAbstractParamReader__inherit__graph.png b/doc/html/classAbstractParamReader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..21f81d19c22d5a6bf6dbd7df680dfc94647e052c
Binary files /dev/null and b/doc/html/classAbstractParamReader__inherit__graph.png differ
diff --git a/doc/html/classAbstractRobot-members.html b/doc/html/classAbstractRobot-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..d189f787701ebf73ef9e0502c3b0f2b16675aac3
--- /dev/null
+++ b/doc/html/classAbstractRobot-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">AbstractRobot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractRobot.html">AbstractRobot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">checkSingleObjectCollision</a>(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask)=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">notify</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">robotRootBounds</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">rootTf</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobot.html b/doc/html/classAbstractRobot.html
new file mode 100644
index 0000000000000000000000000000000000000000..71d4e9f23b7cc5bc7d3a7edb68a7bdf97d9a07ae
--- /dev/null
+++ b/doc/html/classAbstractRobot.html
@@ -0,0 +1,705 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: AbstractRobot 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="classAbstractRobot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractRobot Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstract Robot implementation.
+ <a href="classAbstractRobot.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for AbstractRobot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractRobot__inherit__graph.png" border="0" usemap="#AbstractRobot_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractRobot_inherit__map" id="AbstractRobot_inherit__map">
+<area shape="rect" title="Abstract Robot implementation." alt="" coords="238,5,353,32"/>
+<area shape="rect" href="classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="127,80,306,107"/>
+<area shape="rect" href="classCetiRobot.html" title="Concrete Ceti-Robot." alt="" coords="331,80,417,107"/>
+<area shape="rect" href="classPandaDecorator.html" title="Panda Decorator." alt="" coords="5,155,132,181"/>
+<area shape="rect" href="classUR10Decorator.html" title="Panda Mediator." alt="" coords="156,155,277,181"/>
+<area shape="rect" href="classUR5Decorator.html" title="UR5 Decorator." alt="" coords="301,155,415,181"/>
+</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:ae9767037bd216136e3a8619061d6784c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a> (std::string <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>)</td></tr>
+<tr class="separator:ae9767037bd216136e3a8619061d6784c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7456945dfc21ee6cc53bd05c932d95b1"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a7456945dfc21ee6cc53bd05c932d95b1"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">More...</a><br /></td></tr>
+<tr class="separator:a7456945dfc21ee6cc53bd05c932d95b1"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1c60ec2481b135b4897896d0a6b4ef47"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">bounds</a> ()=0</td></tr>
+<tr class="separator:a1c60ec2481b135b4897896d0a6b4ef47"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8ffaf43fd68ff397dc4e3768cf6ebe67"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">checkSingleObjectCollision</a> (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask)=0</td></tr>
+<tr class="separator:a8ffaf43fd68ff397dc4e3768cf6ebe67"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa90ce66c7d59030d1122c70b5de950e6"><td class="memItemLeft" align="right" valign="top">virtual std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a> ()=0</td></tr>
+<tr class="separator:aa90ce66c7d59030d1122c70b5de950e6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0b667805c8fb3f707eb68889b45c6263"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">notify</a> ()=0</td></tr>
+<tr class="separator:a0b667805c8fb3f707eb68889b45c6263"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a93f1c6a952dec22637da68b4567d1b67"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">robotRootBounds</a> ()=0</td></tr>
+<tr class="separator:a93f1c6a952dec22637da68b4567d1b67"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acb49db9acf6f136df2ffdc17758d61a9"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">rootTf</a> ()=0</td></tr>
+<tr class="separator:acb49db9acf6f136df2ffdc17758d61a9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3d61b41f607cd3092a6bad7285cb668"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a> (float deg)</td></tr>
+<tr class="separator:af3d61b41f607cd3092a6bad7285cb668"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53decc994ea4df246c87cedf1619f58b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:a53decc994ea4df246c87cedf1619f58b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab91d24aacd1816d82c7fe59fde1daaae"><td class="memItemLeft" align="right" valign="top">virtual tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a> ()=0</td></tr>
+<tr class="separator:ab91d24aacd1816d82c7fe59fde1daaae"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a005c48097a8c55d5cd13bd9cbd1f2a86"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:a005c48097a8c55d5cd13bd9cbd1f2a86"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af7a274dc076263e08fd9830b3b5861ae"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a> ()=0</td></tr>
+<tr class="separator:af7a274dc076263e08fd9830b3b5861ae"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a780bb60cd0c8b36d5a687656e06d75f7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a780bb60cd0c8b36d5a687656e06d75f7"><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:a6e3c9f8635200012425072be65633a4e"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td></tr>
+<tr class="memdesc:a6e3c9f8635200012425072be65633a4e"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">More...</a><br /></td></tr>
+<tr class="separator:a6e3c9f8635200012425072be65633a4e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c67a63e89e2e2fb7915adfc44e8930b"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td></tr>
+<tr class="memdesc:a4c67a63e89e2e2fb7915adfc44e8930b"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">More...</a><br /></td></tr>
+<tr class="separator:a4c67a63e89e2e2fb7915adfc44e8930b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13f598496fdae9b2f881a494d4737fc4"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a13f598496fdae9b2f881a494d4737fc4"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">More...</a><br /></td></tr>
+<tr class="separator:a13f598496fdae9b2f881a494d4737fc4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c8771686cd69c4986feea6e6fdd9e76"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td></tr>
+<tr class="memdesc:a2c8771686cd69c4986feea6e6fdd9e76"><td class="mdescLeft"> </td><td class="mdescRight">Robot root on table top. <a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">More...</a><br /></td></tr>
+<tr class="separator:a2c8771686cd69c4986feea6e6fdd9e76"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af9c9ba20329199e5d1722a681f2087e9"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td></tr>
+<tr class="memdesc:af9c9ba20329199e5d1722a681f2087e9"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">More...</a><br /></td></tr>
+<tr class="separator:af9c9ba20329199e5d1722a681f2087e9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab2f383d6e9fccdb649441ac67f457f21"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td></tr>
+<tr class="memdesc:ab2f383d6e9fccdb649441ac67f457f21"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">More...</a><br /></td></tr>
+<tr class="separator:ab2f383d6e9fccdb649441ac67f457f21"><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 Robot implementation. </p>
+<p>Defines a Robot as table plus Manipulator on top. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot_8h_source.html#l00025">25</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ae9767037bd216136e3a8619061d6784c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae9767037bd216136e3a8619061d6784c">◆ </a></span>AbstractRobot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractRobot::AbstractRobot </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="a7456945dfc21ee6cc53bd05c932d95b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7456945dfc21ee6cc53bd05c932d95b1">◆ </a></span>areaCalculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">float AbstractRobot::areaCalculation </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="a1c60ec2481b135b4897896d0a6b4ef47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c60ec2481b135b4897896d0a6b4ef47">◆ </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>& AbstractRobot::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="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">AbstractRobotDecorator</a>, and <a class="el" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">CetiRobot</a>.</p>
+
+</div>
+</div>
+<a id="a8ffaf43fd68ff397dc4e3768cf6ebe67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ffaf43fd68ff397dc4e3768cf6ebe67">◆ </a></span>checkSingleObjectCollision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual bool AbstractRobot::checkSingleObjectCollision </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>robot_element</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>panel_mask</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="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot</a>, and <a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">AbstractRobotDecorator</a>.</p>
+
+</div>
+</div>
+<a id="aa90ce66c7d59030d1122c70b5de950e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa90ce66c7d59030d1122c70b5de950e6">◆ </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& AbstractRobot::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="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator</a>, and <a class="el" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">CetiRobot</a>.</p>
+
+</div>
+</div>
+<a id="a0b667805c8fb3f707eb68889b45c6263"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b667805c8fb3f707eb68889b45c6263">◆ </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">virtual void AbstractRobot::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="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot</a>, and <a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">AbstractRobotDecorator</a>.</p>
+
+</div>
+</div>
+<a id="a93f1c6a952dec22637da68b4567d1b67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93f1c6a952dec22637da68b4567d1b67">◆ </a></span>robotRootBounds()</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>& AbstractRobot::robotRootBounds </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="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">AbstractRobotDecorator</a>, and <a class="el" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">CetiRobot</a>.</p>
+
+</div>
+</div>
+<a id="acb49db9acf6f136df2ffdc17758d61a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb49db9acf6f136df2ffdc17758d61a9">◆ </a></span>rootTf()</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& AbstractRobot::rootTf </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="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">AbstractRobotDecorator</a>, and <a class="el" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">CetiRobot</a>.</p>
+
+</div>
+</div>
+<a id="af3d61b41f607cd3092a6bad7285cb668"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3d61b41f607cd3092a6bad7285cb668">◆ </a></span>rotate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractRobot::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="abstract__robot_8h_source.html#l00049">49</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a53decc994ea4df246c87cedf1619f58b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53decc994ea4df246c87cedf1619f58b">◆ </a></span>setTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractRobot::setTf </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="abstract__robot_8h_source.html#l00048">48</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab91d24aacd1816d82c7fe59fde1daaae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab91d24aacd1816d82c7fe59fde1daaae">◆ </a></span>size() <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 tf2::Vector3& AbstractRobot::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="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">AbstractRobotDecorator</a>, and <a class="el" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot</a>.</p>
+
+</div>
+</div>
+<a id="a005c48097a8c55d5cd13bd9cbd1f2a86"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a005c48097a8c55d5cd13bd9cbd1f2a86">◆ </a></span>size() <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 AbstractRobot::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="abstract__robot_8h_source.html#l00047">47</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="af7a274dc076263e08fd9830b3b5861ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af7a274dc076263e08fd9830b3b5861ae">◆ </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">virtual tf2::Transform& AbstractRobot::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="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">AbstractRobotDecorator</a>, and <a class="el" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot</a>.</p>
+
+</div>
+</div>
+<a id="a780bb60cd0c8b36d5a687656e06d75f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a780bb60cd0c8b36d5a687656e06d75f7">◆ </a></span>translate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractRobot::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="abstract__robot_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6e3c9f8635200012425072be65633a4e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e3c9f8635200012425072be65633a4e">◆ </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> AbstractRobot::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="abstract__robot_8h_source.html#l00031">31</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a4c67a63e89e2e2fb7915adfc44e8930b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c67a63e89e2e2fb7915adfc44e8930b">◆ </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 AbstractRobot::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="abstract__robot_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a13f598496fdae9b2f881a494d4737fc4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13f598496fdae9b2f881a494d4737fc4">◆ </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> AbstractRobot::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="abstract__robot_8h_source.html#l00032">32</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a2c8771686cd69c4986feea6e6fdd9e76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c8771686cd69c4986feea6e6fdd9e76">◆ </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 AbstractRobot::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>Robot root on table top. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot_8h_source.html#l00030">30</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="af9c9ba20329199e5d1722a681f2087e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9c9ba20329199e5d1722a681f2087e9">◆ </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 AbstractRobot::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="abstract__robot_8h_source.html#l00028">28</a> of file <a class="el" href="abstract__robot_8h_source.html">abstract_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab2f383d6e9fccdb649441ac67f457f21"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab2f383d6e9fccdb649441ac67f457f21">◆ </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 AbstractRobot::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="abstract__robot_8h_source.html#l00029">29</a> of file <a class="el" href="abstract__robot_8h_source.html">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="abstract__robot_8h_source.html">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobotDecorator-members.html b/doc/html/classAbstractRobotDecorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..e68e727f0119cd0074b58ea3fe22ee971bee7ee0
--- /dev/null
+++ b/doc/html/classAbstractRobotDecorator-members.html
@@ -0,0 +1,69 @@
+<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">AbstractRobotDecorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a>(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">spezifieRobotGroups</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">spezifieRootBounds</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobotDecorator.html b/doc/html/classAbstractRobotDecorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..935bab788d047d15af2cc0c49f24c8fcd97e6953
--- /dev/null
+++ b/doc/html/classAbstractRobotDecorator.html
@@ -0,0 +1,791 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: AbstractRobotDecorator 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="classAbstractRobotDecorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractRobotDecorator Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Abstract Robot Decorator.
+ <a href="classAbstractRobotDecorator.html#details">More...</a></p>
+
+<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 AbstractRobotDecorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractRobotDecorator__inherit__graph.png" border="0" usemap="#AbstractRobotDecorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractRobotDecorator_inherit__map" id="AbstractRobotDecorator_inherit__map">
+<area shape="rect" title="Abstract Robot Decorator." alt="" coords="127,80,306,107"/>
+<area shape="rect" href="classPandaDecorator.html" title="Panda Decorator." alt="" coords="5,155,132,181"/>
+<area shape="rect" href="classUR10Decorator.html" title="Panda Mediator." alt="" coords="156,155,277,181"/>
+<area shape="rect" href="classUR5Decorator.html" title="UR5 Decorator." alt="" coords="301,155,415,181"/>
+<area shape="rect" href="classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="159,5,274,32"/>
+</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:ab13a5c4b37f6a90b723065e01d056e12"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:ab13a5c4b37f6a90b723065e01d056e12"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot Decorator. <a href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">More...</a><br /></td></tr>
+<tr class="separator:ab13a5c4b37f6a90b723065e01d056e12"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8da3e89f0a42ec0956a5adc80d2b8816"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a> () override</td></tr>
+<tr class="memdesc:a8da3e89f0a42ec0956a5adc80d2b8816"><td class="mdescLeft"> </td><td class="mdescRight">Redirects bounds call to next_. <a href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">More...</a><br /></td></tr>
+<tr class="separator:a8da3e89f0a42ec0956a5adc80d2b8816"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66c56af565343dcabfdc2e200010501f"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a> (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td></tr>
+<tr class="memdesc:a66c56af565343dcabfdc2e200010501f"><td class="mdescLeft"> </td><td class="mdescRight">Redirects check_single_object_collision call. <a href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">More...</a><br /></td></tr>
+<tr class="separator:a66c56af565343dcabfdc2e200010501f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afe44b1b1711fa9a0ed97b7237f7cb6d5"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a> ()</td></tr>
+<tr class="separator:afe44b1b1711fa9a0ed97b7237f7cb6d5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31223d85225bac9603e2ccd06578fe18"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a> ()</td></tr>
+<tr class="separator:a31223d85225bac9603e2ccd06578fe18"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa6ac3b0845c32dde50a90655ec0a6c97"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a> () override</td></tr>
+<tr class="memdesc:aa6ac3b0845c32dde50a90655ec0a6c97"><td class="mdescLeft"> </td><td class="mdescRight">Redirects name call to next_. <a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">More...</a><br /></td></tr>
+<tr class="separator:aa6ac3b0845c32dde50a90655ec0a6c97"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3b03bd96b7f53df1a4a76cf980429fe"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobot.html">AbstractRobot</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a> ()</td></tr>
+<tr class="memdesc:af3b03bd96b7f53df1a4a76cf980429fe"><td class="mdescLeft"> </td><td class="mdescRight">Call of mimiced objects. <a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">More...</a><br /></td></tr>
+<tr class="separator:af3b03bd96b7f53df1a4a76cf980429fe"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53b26570fb8847363d0c5398eb633ff7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a> () override</td></tr>
+<tr class="memdesc:a53b26570fb8847363d0c5398eb633ff7"><td class="mdescLeft"> </td><td class="mdescRight">Redirects notify call to next_. <a href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">More...</a><br /></td></tr>
+<tr class="separator:a53b26570fb8847363d0c5398eb633ff7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7eb1074e90af32a2c2fa496b58a1f751"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a> ()</td></tr>
+<tr class="separator:a7eb1074e90af32a2c2fa496b58a1f751"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad8bc2fc3ca0243df81f065f352fa8c0c"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a> () override</td></tr>
+<tr class="memdesc:ad8bc2fc3ca0243df81f065f352fa8c0c"><td class="mdescLeft"> </td><td class="mdescRight">Redirects robot_root_bounds call to next_. <a href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">More...</a><br /></td></tr>
+<tr class="separator:ad8bc2fc3ca0243df81f065f352fa8c0c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a866eacc1aa89353a71e021eabf137203"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a> () override</td></tr>
+<tr class="memdesc:a866eacc1aa89353a71e021eabf137203"><td class="mdescLeft"> </td><td class="mdescRight">Redirects root_tf call to next_. <a href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">More...</a><br /></td></tr>
+<tr class="separator:a866eacc1aa89353a71e021eabf137203"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac64a19cac1215bd89faad4db6a2b176f"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a> () override</td></tr>
+<tr class="memdesc:ac64a19cac1215bd89faad4db6a2b176f"><td class="mdescLeft"> </td><td class="mdescRight">Redirects size call to next_. <a href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">More...</a><br /></td></tr>
+<tr class="separator:ac64a19cac1215bd89faad4db6a2b176f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1f0ecb1398c2e5370176c3ab3f479fad"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">spezifieRobotGroups</a> ()=0</td></tr>
+<tr class="memdesc:a1f0ecb1398c2e5370176c3ab3f479fad"><td class="mdescLeft"> </td><td class="mdescRight">Pure virtual function to specify root groupts. <a href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">More...</a><br /></td></tr>
+<tr class="separator:a1f0ecb1398c2e5370176c3ab3f479fad"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1f56056cdf8f7213e90900768b66761d"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">spezifieRootBounds</a> ()=0</td></tr>
+<tr class="memdesc:a1f56056cdf8f7213e90900768b66761d"><td class="mdescLeft"> </td><td class="mdescRight">Pure virtual function to specify root bounds. <a href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">More...</a><br /></td></tr>
+<tr class="separator:a1f56056cdf8f7213e90900768b66761d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae837cb13e9d38efb346d91dd2bf4566"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a> () override</td></tr>
+<tr class="memdesc:aae837cb13e9d38efb346d91dd2bf4566"><td class="mdescLeft"> </td><td class="mdescRight">Redirects tf call to next_. <a href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">More...</a><br /></td></tr>
+<tr class="separator:aae837cb13e9d38efb346d91dd2bf4566"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a> (std::string <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>)</td></tr>
+<tr class="separator:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">More...</a><br /></td></tr>
+<tr class="separator:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a> (float deg)</td></tr>
+<tr class="separator:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><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:a147e86f2dd943e921d534d57a30a53c5"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td></tr>
+<tr class="memdesc:a147e86f2dd943e921d534d57a30a53c5"><td class="mdescLeft"> </td><td class="mdescRight">Coming soon. <a href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">More...</a><br /></td></tr>
+<tr class="separator:a147e86f2dd943e921d534d57a30a53c5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a06a1ef5229d1524c4cb427520d1edc3a"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td></tr>
+<tr class="memdesc:a06a1ef5229d1524c4cb427520d1edc3a"><td class="mdescLeft"> </td><td class="mdescRight">//!< Mapping of specific task constructor variables <a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">More...</a><br /></td></tr>
+<tr class="separator:a06a1ef5229d1524c4cb427520d1edc3a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3727598e76fec150cce2de06a59782b"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td></tr>
+<tr class="memdesc:ac3727598e76fec150cce2de06a59782b"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the robots arm. <a href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">More...</a><br /></td></tr>
+<tr class="separator:ac3727598e76fec150cce2de06a59782b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a70fe6a61069c851f1adcd1f18e2f8a4d"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td></tr>
+<tr class="memdesc:a70fe6a61069c851f1adcd1f18e2f8a4d"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the Robots manipulator. <a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">More...</a><br /></td></tr>
+<tr class="separator:a70fe6a61069c851f1adcd1f18e2f8a4d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a300f221528cb239f0125e66f6a3e67d5"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td></tr>
+<tr class="memdesc:a300f221528cb239f0125e66f6a3e67d5"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot which is mimiced. <a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">More...</a><br /></td></tr>
+<tr class="separator:a300f221528cb239f0125e66f6a3e67d5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aceb71e9a949ed0b7693dbbc12da022b9"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td></tr>
+<tr class="memdesc:aceb71e9a949ed0b7693dbbc12da022b9"><td class="mdescLeft"> </td><td class="mdescRight">Regexpattern. <a href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">More...</a><br /></td></tr>
+<tr class="separator:aceb71e9a949ed0b7693dbbc12da022b9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td></tr>
+<tr class="memdesc:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">More...</a><br /></td></tr>
+<tr class="separator:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td></tr>
+<tr class="memdesc:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">More...</a><br /></td></tr>
+<tr class="separator:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">More...</a><br /></td></tr>
+<tr class="separator:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td></tr>
+<tr class="memdesc:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Robot root on table top. <a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">More...</a><br /></td></tr>
+<tr class="separator:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td></tr>
+<tr class="memdesc:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">More...</a><br /></td></tr>
+<tr class="separator:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td></tr>
+<tr class="memdesc:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">More...</a><br /></td></tr>
+<tr class="separator:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><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 Robot Decorator. </p>
+<p>Implements the concept of different manifactures, who can set their own Tf_root area </p>
+
+<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><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ab13a5c4b37f6a90b723065e01d056e12"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab13a5c4b37f6a90b723065e01d056e12">◆ </a></span>AbstractRobotDecorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractRobotDecorator::AbstractRobotDecorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</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>Abstract Robot Decorator. </p>
+<p>initializes Abstract Robot Decorator </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">next</td><td>Abstract Robot to be mimiced </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<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>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8da3e89f0a42ec0956a5adc80d2b8816"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8da3e89f0a42ec0956a5adc80d2b8816">◆ </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>& AbstractRobotDecorator::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>Redirects bounds call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00062">62</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a66c56af565343dcabfdc2e200010501f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66c56af565343dcabfdc2e200010501f">◆ </a></span>checkSingleObjectCollision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool AbstractRobotDecorator::checkSingleObjectCollision </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>robot_element</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>panel_mask</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>Redirects check_single_object_collision call. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00050">50</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="afe44b1b1711fa9a0ed97b7237f7cb6d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe44b1b1711fa9a0ed97b7237f7cb6d5">◆ </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> AbstractRobotDecorator::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="abstract__robot__decorator_8h_source.html#l00087">87</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a31223d85225bac9603e2ccd06578fe18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31223d85225bac9603e2ccd06578fe18">◆ </a></span>mgiHand()</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> AbstractRobotDecorator::mgiHand </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#l00088">88</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="aa6ac3b0845c32dde50a90655ec0a6c97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6ac3b0845c32dde50a90655ec0a6c97">◆ </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& AbstractRobotDecorator::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>Redirects name call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00047">47</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="af3b03bd96b7f53df1a4a76cf980429fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3b03bd96b7f53df1a4a76cf980429fe">◆ </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="classAbstractRobot.html">AbstractRobot</a>* AbstractRobotDecorator::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>Call of mimiced objects. </p>
+<dl class="section return"><dt>Returns</dt><dd>Abstract_robot* to mimiced object </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00074">74</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a53b26570fb8847363d0c5398eb633ff7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53b26570fb8847363d0c5398eb633ff7">◆ </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 AbstractRobotDecorator::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>Redirects notify call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00068">68</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a7eb1074e90af32a2c2fa496b58a1f751"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7eb1074e90af32a2c2fa496b58a1f751">◆ </a></span>pattern()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string& AbstractRobotDecorator::pattern </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#l00082">82</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ad8bc2fc3ca0243df81f065f352fa8c0c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8bc2fc3ca0243df81f065f352fa8c0c">◆ </a></span>robotRootBounds()</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>& AbstractRobotDecorator::robotRootBounds </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>Redirects robot_root_bounds call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00065">65</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a866eacc1aa89353a71e021eabf137203"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a866eacc1aa89353a71e021eabf137203">◆ </a></span>rootTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& AbstractRobotDecorator::rootTf </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>Redirects root_tf call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00059">59</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac64a19cac1215bd89faad4db6a2b176f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac64a19cac1215bd89faad4db6a2b176f">◆ </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& AbstractRobotDecorator::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>Redirects size call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00056">56</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a1f0ecb1398c2e5370176c3ab3f479fad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f0ecb1398c2e5370176c3ab3f479fad">◆ </a></span>spezifieRobotGroups()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractRobotDecorator::spezifieRobotGroups </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 function to specify root groupts. </p>
+
+<p>Implemented in <a class="el" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">PandaDecorator</a>, <a class="el" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">UR5Decorator</a>, and <a class="el" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">UR10Decorator</a>.</p>
+
+</div>
+</div>
+<a id="a1f56056cdf8f7213e90900768b66761d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f56056cdf8f7213e90900768b66761d">◆ </a></span>spezifieRootBounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractRobotDecorator::spezifieRootBounds </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 function to specify root bounds. </p>
+
+<p>Implemented in <a class="el" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">UR5Decorator</a>, <a class="el" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">PandaDecorator</a>, and <a class="el" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">UR10Decorator</a>.</p>
+
+</div>
+</div>
+<a id="aae837cb13e9d38efb346d91dd2bf4566"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae837cb13e9d38efb346d91dd2bf4566">◆ </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& AbstractRobotDecorator::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>Redirects tf call to next_. </p>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00053">53</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="a147e86f2dd943e921d534d57a30a53c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a147e86f2dd943e921d534d57a30a53c5">◆ </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> AbstractRobotDecorator::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>Coming soon. </p>
+
+<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>
+<a id="a06a1ef5229d1524c4cb427520d1edc3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06a1ef5229d1524c4cb427520d1edc3a">◆ </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> AbstractRobotDecorator::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>//!< Mapping of specific task constructor variables </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00028">28</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac3727598e76fec150cce2de06a59782b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3727598e76fec150cce2de06a59782b">◆ </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> AbstractRobotDecorator::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>MoveGroup Interface for the robots arm. </p>
+
+<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="a70fe6a61069c851f1adcd1f18e2f8a4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70fe6a61069c851f1adcd1f18e2f8a4d">◆ </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> AbstractRobotDecorator::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>MoveGroup Interface for the Robots manipulator. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00026">26</a> of file <a class="el" href="abstract__robot__decorator_8h_source.html">abstract_robot_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a300f221528cb239f0125e66f6a3e67d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a300f221528cb239f0125e66f6a3e67d5">◆ </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="classAbstractRobot.html">AbstractRobot</a>> AbstractRobotDecorator::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>Abstract Robot which is mimiced. </p>
+
+<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="aceb71e9a949ed0b7693dbbc12da022b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aceb71e9a949ed0b7693dbbc12da022b9">◆ </a></span>pattern_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string AbstractRobotDecorator::pattern_</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>Regexpattern. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__decorator_8h_source.html#l00030">30</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobotDecorator__inherit__graph.map b/doc/html/classAbstractRobotDecorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..6403c864b6a10c4a4ca0331f0b28de712b4ef5fa
--- /dev/null
+++ b/doc/html/classAbstractRobotDecorator__inherit__graph.map
@@ -0,0 +1,7 @@
+<map id="AbstractRobotDecorator" name="AbstractRobotDecorator">
+<area shape="rect" id="node1" title="Abstract Robot Decorator." alt="" coords="127,80,306,107"/>
+<area shape="rect" id="node3" href="$classPandaDecorator.html" title="Panda Decorator." alt="" coords="5,155,132,181"/>
+<area shape="rect" id="node4" href="$classUR10Decorator.html" title="Panda Mediator." alt="" coords="156,155,277,181"/>
+<area shape="rect" id="node5" href="$classUR5Decorator.html" title="UR5 Decorator." alt="" coords="301,155,415,181"/>
+<area shape="rect" id="node2" href="$classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="159,5,274,32"/>
+</map>
diff --git a/doc/html/classAbstractRobotDecorator__inherit__graph.md5 b/doc/html/classAbstractRobotDecorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..c6b9b7ad6e91db1345ac874e2bb198c4f195b311
--- /dev/null
+++ b/doc/html/classAbstractRobotDecorator__inherit__graph.md5
@@ -0,0 +1 @@
+af1530772cadff85771916f252b22c6d
\ No newline at end of file
diff --git a/doc/html/classAbstractRobotDecorator__inherit__graph.png b/doc/html/classAbstractRobotDecorator__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c13cf42b992537406f2666bc9762838abad395b
Binary files /dev/null and b/doc/html/classAbstractRobotDecorator__inherit__graph.png differ
diff --git a/doc/html/classAbstractRobotElement-members.html b/doc/html/classAbstractRobotElement-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..32110e949cae2becb102f4f790ee8f728c82d734
--- /dev/null
+++ b/doc/html/classAbstractRobotElement-members.html
@@ -0,0 +1,51 @@
+<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">AbstractRobotElement Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">bounds</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">update</a>(tf2::Transform &tf)=0</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">worldTf</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobotElement.html b/doc/html/classAbstractRobotElement.html
new file mode 100644
index 0000000000000000000000000000000000000000..c5fd14a93b595acce9cdc9329b32f5311df2c8e2
--- /dev/null
+++ b/doc/html/classAbstractRobotElement.html
@@ -0,0 +1,509 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: AbstractRobotElement 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="classAbstractRobotElement-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractRobotElement 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__element_8h_source.html">abstract_robot_element.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for AbstractRobotElement:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractRobotElement__inherit__graph.png" border="0" usemap="#AbstractRobotElement_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractRobotElement_inherit__map" id="AbstractRobotElement_inherit__map">
+<area shape="rect" title=" " alt="" coords="121,5,289,32"/>
+<area shape="rect" href="classAbstractRobotElementDecorator.html" title=" " alt="" coords="5,80,237,107"/>
+<area shape="rect" href="classPanel.html" title=" " alt="" coords="261,80,320,107"/>
+<area shape="rect" href="classLogDecorator.html" title=" " alt="" coords="67,155,176,181"/>
+<area shape="rect" href="classMoveitPanel.html" title=" " alt="" coords="219,155,322,181"/>
+<area shape="rect" href="classRvizPanel.html" title=" " alt="" coords="346,155,433,181"/>
+</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:aade8e84adb9ccb5feb0bd55feba55f73"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a> (tf2::Transform tf, std::string <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</td></tr>
+<tr class="separator:aade8e84adb9ccb5feb0bd55feba55f73"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a54227cc56d5d9fde531d32cf9d70ba75"><td class="memItemLeft" align="right" valign="top">virtual std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">bounds</a> ()=0</td></tr>
+<tr class="separator:a54227cc56d5d9fde531d32cf9d70ba75"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41e8e3dd3386f5716db3c81b747a3ac7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a41e8e3dd3386f5716db3c81b747a3ac7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b0d09ec660f34e8bd4e58e3623f9b28"><td class="memItemLeft" align="right" valign="top">virtual std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a> ()=0</td></tr>
+<tr class="separator:a9b0d09ec660f34e8bd4e58e3623f9b28"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4896ae0424f9bee2c63a6eb65130e8c7"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a> ()</td></tr>
+<tr class="separator:a4896ae0424f9bee2c63a6eb65130e8c7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43dc533037cf056a95933c2a3230292e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a43dc533037cf056a95933c2a3230292e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa5f10ad3b5236b38209e94ed944e40d5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa5f10ad3b5236b38209e94ed944e40d5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a94e9c5142e91f262fe6cd223f8b6c110"><td class="memItemLeft" align="right" valign="top">virtual tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a> ()=0</td></tr>
+<tr class="separator:a94e9c5142e91f262fe6cd223f8b6c110"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a407a6970d33242af3fbf5d7f3e1c9aab"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">update</a> (tf2::Transform &tf)=0</td></tr>
+<tr class="separator:a407a6970d33242af3fbf5d7f3e1c9aab"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7aae0717ac2909a70d039164a29ba754"><td class="memItemLeft" align="right" valign="top">virtual tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">worldTf</a> ()=0</td></tr>
+<tr class="separator:a7aae0717ac2909a70d039164a29ba754"><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:a4e3e116bb96a12ad44e0fa7464213c7e"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td></tr>
+<tr class="separator:a4e3e116bb96a12ad44e0fa7464213c7e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48a10e0425bb56cabf0dad275976bb76"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td></tr>
+<tr class="separator:a48a10e0425bb56cabf0dad275976bb76"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66a61ffcb4096fbf1a964b035a38798f"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td></tr>
+<tr class="separator:a66a61ffcb4096fbf1a964b035a38798f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9e7fd0d535253799855ad42f9ed7a52"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td></tr>
+<tr class="separator:ad9e7fd0d535253799855ad42f9ed7a52"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1304c7308731251e789ccfb9368a61f9"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td></tr>
+<tr class="separator:a1304c7308731251e789ccfb9368a61f9"><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__element_8h_source.html#l00007">7</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aade8e84adb9ccb5feb0bd55feba55f73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aade8e84adb9ccb5feb0bd55feba55f73">◆ </a></span>AbstractRobotElement()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractRobotElement::AbstractRobotElement </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="abstract__robot__element_8h_source.html#l00017">17</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a54227cc56d5d9fde531d32cf9d70ba75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54227cc56d5d9fde531d32cf9d70ba75">◆ </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>& AbstractRobotElement::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="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">AbstractRobotElementDecorator</a>, and <a class="el" href="classPanel.html#af4477404926c93431f4c369d36e945d6">Panel</a>.</p>
+
+</div>
+</div>
+<a id="a41e8e3dd3386f5716db3c81b747a3ac7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41e8e3dd3386f5716db3c81b747a3ac7">◆ </a></span>calcWorldTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractRobotElement::calcWorldTf </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="abstract__robot__element_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a9b0d09ec660f34e8bd4e58e3623f9b28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b0d09ec660f34e8bd4e58e3623f9b28">◆ </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& AbstractRobotElement::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="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">AbstractRobotElementDecorator</a>, and <a class="el" href="classPanel.html#abc3a14b055ba9004fa5ebdb34cd5e583">Panel</a>.</p>
+
+</div>
+</div>
+<a id="a4896ae0424f9bee2c63a6eb65130e8c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4896ae0424f9bee2c63a6eb65130e8c7">◆ </a></span>relativeTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& AbstractRobotElement::relativeTf </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__element_8h_source.html#l00024">24</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a43dc533037cf056a95933c2a3230292e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43dc533037cf056a95933c2a3230292e">◆ </a></span>setRelativeTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractRobotElement::setRelativeTf </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="abstract__robot__element_8h_source.html#l00025">25</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="aa5f10ad3b5236b38209e94ed944e40d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5f10ad3b5236b38209e94ed944e40d5">◆ </a></span>setWorldTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void AbstractRobotElement::setWorldTf </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="abstract__robot__element_8h_source.html#l00028">28</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a94e9c5142e91f262fe6cd223f8b6c110"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94e9c5142e91f262fe6cd223f8b6c110">◆ </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& AbstractRobotElement::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="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">AbstractRobotElementDecorator</a>, and <a class="el" href="classPanel.html#af6a63c29e5a5573b369482528c4b4818">Panel</a>.</p>
+
+</div>
+</div>
+<a id="a407a6970d33242af3fbf5d7f3e1c9aab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a407a6970d33242af3fbf5d7f3e1c9aab">◆ </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">virtual void AbstractRobotElement::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="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator</a>, <a class="el" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">MoveitPanel</a>, <a class="el" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel</a>, <a class="el" href="classPanel.html#a2a70a607d1521d4df2360891afd2106f">Panel</a>, and <a class="el" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">LogDecorator</a>.</p>
+
+</div>
+</div>
+<a id="a7aae0717ac2909a70d039164a29ba754"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7aae0717ac2909a70d039164a29ba754">◆ </a></span>worldTf()</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& AbstractRobotElement::worldTf </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="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">AbstractRobotElementDecorator</a>, and <a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">Panel</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4e3e116bb96a12ad44e0fa7464213c7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e3e116bb96a12ad44e0fa7464213c7e">◆ </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> AbstractRobotElement::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="abstract__robot__element_8h_source.html#l00014">14</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a48a10e0425bb56cabf0dad275976bb76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48a10e0425bb56cabf0dad275976bb76">◆ </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 AbstractRobotElement::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="abstract__robot__element_8h_source.html#l00009">9</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a66a61ffcb4096fbf1a964b035a38798f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66a61ffcb4096fbf1a964b035a38798f">◆ </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 AbstractRobotElement::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="abstract__robot__element_8h_source.html#l00010">10</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="ad9e7fd0d535253799855ad42f9ed7a52"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9e7fd0d535253799855ad42f9ed7a52">◆ </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 AbstractRobotElement::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="abstract__robot__element_8h_source.html#l00012">12</a> of file <a class="el" href="abstract__robot__element_8h_source.html">abstract_robot_element.h</a>.</p>
+
+</div>
+</div>
+<a id="a1304c7308731251e789ccfb9368a61f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1304c7308731251e789ccfb9368a61f9">◆ </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 AbstractRobotElement::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="abstract__robot__element_8h_source.html#l00011">11</a> of file <a class="el" href="abstract__robot__element_8h_source.html">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="abstract__robot__element_8h_source.html">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobotElementDecorator-members.html b/doc/html/classAbstractRobotElementDecorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..9a0511daa374f158767db750b33566ecbbbcebb0
--- /dev/null
+++ b/doc/html/classAbstractRobotElementDecorator-members.html
@@ -0,0 +1,57 @@
+<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">AbstractRobotElementDecorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</a>(std::unique_ptr< AbstractRobotElement > next)</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">inputFilter</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">name</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a></td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">nh_</a></td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">outputFilter</a>()=0</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">size</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classAbstractRobotElementDecorator.html b/doc/html/classAbstractRobotElementDecorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..73d4063e67c38d585c524fee2e7328db9c1f57d0
--- /dev/null
+++ b/doc/html/classAbstractRobotElementDecorator.html
@@ -0,0 +1,414 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: AbstractRobotElementDecorator 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="classAbstractRobotElementDecorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">AbstractRobotElementDecorator 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__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for AbstractRobotElementDecorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classAbstractRobotElementDecorator__inherit__graph.png" border="0" usemap="#AbstractRobotElementDecorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="AbstractRobotElementDecorator_inherit__map" id="AbstractRobotElementDecorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,237,107"/>
+<area shape="rect" href="classLogDecorator.html" title=" " alt="" coords="67,155,176,181"/>
+<area shape="rect" href="classAbstractRobotElement.html" title=" " alt="" coords="37,5,205,32"/>
+</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:a3d5875ff7547ee6f7f54336241e5d6b0"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > <a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>)</td></tr>
+<tr class="separator:a3d5875ff7547ee6f7f54336241e5d6b0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2a417f0566c07714c2abe6586a4577be"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">bounds</a> () override</td></tr>
+<tr class="separator:a2a417f0566c07714c2abe6586a4577be"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a35fb8f9872a8fdaa558018c8e8b671e5"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">inputFilter</a> ()=0</td></tr>
+<tr class="separator:a35fb8f9872a8fdaa558018c8e8b671e5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3a5461c53642115aebbc1af97dbe595"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">name</a> () override</td></tr>
+<tr class="separator:ac3a5461c53642115aebbc1af97dbe595"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac9ffe909ec3948fa64571d7a9d1c9415"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a> ()</td></tr>
+<tr class="separator:ac9ffe909ec3948fa64571d7a9d1c9415"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0d900279c63e3724ab37fc24f2b4e2d2"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">outputFilter</a> ()=0</td></tr>
+<tr class="separator:a0d900279c63e3724ab37fc24f2b4e2d2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8bc2e63afb97283b1ac48ae1f44218e2"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">size</a> () override</td></tr>
+<tr class="separator:a8bc2e63afb97283b1ac48ae1f44218e2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:add8fa935879fcd630178bff52ce534f6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:add8fa935879fcd630178bff52ce534f6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a94e56b3357613e351fef8d9c799f4a8b"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a> () override</td></tr>
+<tr class="separator:a94e56b3357613e351fef8d9c799f4a8b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a> (tf2::Transform tf, std::string <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</td></tr>
+<tr class="separator:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a> ()</td></tr>
+<tr class="separator:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><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:acf78ad24fc6586f8c22ce318e71aa133"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a></td></tr>
+<tr class="separator:acf78ad24fc6586f8c22ce318e71aa133"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aca02840da41cc102e12ef7f3828cb04c"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">nh_</a></td></tr>
+<tr class="separator:aca02840da41cc102e12ef7f3828cb04c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td></tr>
+<tr class="separator:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td></tr>
+<tr class="separator:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td></tr>
+<tr class="separator:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td></tr>
+<tr class="separator:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td></tr>
+<tr class="separator:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><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__element__decorator_8h_source.html#l00007">7</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a3d5875ff7547ee6f7f54336241e5d6b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d5875ff7547ee6f7f54336241e5d6b0">◆ </a></span>AbstractRobotElementDecorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">AbstractRobotElementDecorator::AbstractRobotElementDecorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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__element__decorator_8h_source.html#l00013">13</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a417f0566c07714c2abe6586a4577be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a417f0566c07714c2abe6586a4577be">◆ </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>& AbstractRobotElementDecorator::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="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">AbstractRobotElement</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__element__decorator_8h_source.html#l00019">19</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a35fb8f9872a8fdaa558018c8e8b671e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35fb8f9872a8fdaa558018c8e8b671e5">◆ </a></span>inputFilter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractRobotElementDecorator::inputFilter </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="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">LogDecorator</a>.</p>
+
+</div>
+</div>
+<a id="ac3a5461c53642115aebbc1af97dbe595"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac3a5461c53642115aebbc1af97dbe595">◆ </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& AbstractRobotElementDecorator::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="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">AbstractRobotElement</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__element__decorator_8h_source.html#l00021">21</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac9ffe909ec3948fa64571d7a9d1c9415"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9ffe909ec3948fa64571d7a9d1c9415">◆ </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="classAbstractRobotElement.html">AbstractRobotElement</a>* AbstractRobotElementDecorator::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__element__decorator_8h_source.html#l00017">17</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a0d900279c63e3724ab37fc24f2b4e2d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d900279c63e3724ab37fc24f2b4e2d2">◆ </a></span>outputFilter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">virtual void AbstractRobotElementDecorator::outputFilter </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="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">LogDecorator</a>.</p>
+
+</div>
+</div>
+<a id="a8bc2e63afb97283b1ac48ae1f44218e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8bc2e63afb97283b1ac48ae1f44218e2">◆ </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& AbstractRobotElementDecorator::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="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">AbstractRobotElement</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__element__decorator_8h_source.html#l00022">22</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="add8fa935879fcd630178bff52ce534f6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#add8fa935879fcd630178bff52ce534f6">◆ </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 AbstractRobotElementDecorator::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="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">AbstractRobotElement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">LogDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__element__decorator_8h_source.html#l00026">26</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="a94e56b3357613e351fef8d9c799f4a8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94e56b3357613e351fef8d9c799f4a8b">◆ </a></span>worldTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& AbstractRobotElementDecorator::worldTf </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="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">AbstractRobotElement</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__robot__element__decorator_8h_source.html#l00020">20</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="acf78ad24fc6586f8c22ce318e71aa133"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf78ad24fc6586f8c22ce318e71aa133">◆ </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="classAbstractRobotElement.html">AbstractRobotElement</a>> AbstractRobotElementDecorator::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__element__decorator_8h_source.html#l00010">10</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">abstract_robot_element_decorator.h</a>.</p>
+
+</div>
+</div>
+<a id="aca02840da41cc102e12ef7f3828cb04c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca02840da41cc102e12ef7f3828cb04c">◆ </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> AbstractRobotElementDecorator::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="abstract__robot__element__decorator_8h_source.html#l00009">9</a> of file <a class="el" href="abstract__robot__element__decorator_8h_source.html">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="abstract__robot__element__decorator_8h_source.html">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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new file mode 100644
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+</map>
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new file mode 100644
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+<map id="AbstractRobotElement" name="AbstractRobotElement">
+<area shape="rect" id="node1" title=" " alt="" coords="121,5,289,32"/>
+<area shape="rect" id="node2" href="$classAbstractRobotElementDecorator.html" title=" " alt="" coords="5,80,237,107"/>
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+<area shape="rect" id="node3" href="$classLogDecorator.html" title=" " alt="" coords="67,155,176,181"/>
+<area shape="rect" id="node5" href="$classMoveitPanel.html" title=" " alt="" coords="219,155,322,181"/>
+<area shape="rect" id="node6" href="$classRvizPanel.html" title=" " alt="" coords="346,155,433,181"/>
+</map>
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new file mode 100644
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+++ b/doc/html/classAbstractRobot__inherit__graph.map
@@ -0,0 +1,8 @@
+<map id="AbstractRobot" name="AbstractRobot">
+<area shape="rect" id="node1" title="Abstract Robot implementation." alt="" coords="238,5,353,32"/>
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+</map>
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index 878b4877f46f8713f51f337a9569399d0cfd37ad..0000000000000000000000000000000000000000
--- a/doc/html/classAbstract__base-members.html
+++ /dev/null
@@ -1,56 +0,0 @@
-<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>
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-<title>multi_cell_builder: Abstract_base Class Reference</title>
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-<a href="#pub-methods">Public Member Functions</a> |
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-<a href="classAbstract__base-members.html">List of all members</a> </div>
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-<div class="title">Abstract_base Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div> </div>
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-
-<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"/>
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-<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>
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-</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>
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-<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>
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- <td>(</td>
- <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
- <td class="paramname"><em>d</em></td><td>)</td>
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- </td>
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-<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>
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-<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>
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-<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>
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- <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>
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- </td>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
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-<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>
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-<p>Implemented in <a class="el" href="classSimple__base.html#a42768a7c6fcee691bb1699e08ead3ef6">Simple_base</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a4f721d18ef125fe286eeb7978fc499ba">◆ </a></span>create_pcl_box()</h2>
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- <td class="memname">static std::vector<pcl::PointXYZ> Abstract_base::create_pcl_box </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </tr>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a9fe29f317aeb7337c2eaeaefdc1d1ba9">◆ </a></span>implementation()</h2>
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- <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>
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-<p>Get used implementation. </p>
-<dl class="section return"><dt>Returns</dt><dd>implementation </dd></dl>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aebb83168a14d660a024240bfaad70a80">◆ </a></span>inv_map()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<p>Get inverse map structure. </p>
-<dl class="section return"><dt>Returns</dt><dd>inverse map structure </dd></dl>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<p>Get map structure. </p>
-<dl class="section return"><dt>Returns</dt><dd>map structure </dd></dl>
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-<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>
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- <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>
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-<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>
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-<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>
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- <td>(</td>
- <td class="paramtype">std::vector< tf2::Transform > & </td>
- <td class="paramname"><em>list</em></td><td>)</td>
- <td></td>
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-<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>
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-<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>
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- <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>
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-<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>
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- </dd>
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-<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>
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- <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>
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-<p>Set task cloud. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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- <tr><td class="paramname">cloud</td><td>cloud map </td></tr>
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-<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>
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- <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>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<p>Get task cloud. </p>
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- <td>(</td>
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-<p>Get task space. </p>
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-<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>
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- <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>
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-<p>write trask </p>
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-<p>refined implementation </p>
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-<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>
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-<div class="memitem">
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- <td class="mlabels-left">
- <table class="memname">
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- <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>
-
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-</div>
-<a id="a54d21fd6fe1217c1b065c5b500e3e8d0"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a54d21fd6fe1217c1b065c5b500e3e8d0">◆ </a></span>nh_</h2>
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-<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>
-
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-<a id="a8c32441b38f2cb24388e8d98fd8fe2bc"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a8c32441b38f2cb24388e8d98fd8fe2bc">◆ </a></span>task_space_</h2>
-
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- <td class="mlabels-left">
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- <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>
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-</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>
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diff --git a/doc/html/classAbstract__base__implementation-members.html b/doc/html/classAbstract__base__implementation-members.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>
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-<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
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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Abstract_base_implementation Class Reference</title>
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-<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">
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-<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">
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- <td class="mlabels-left">
- <table class="memname">
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- <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">
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- <table class="memname">
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- <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">
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- <tr>
- <td class="mlabels-left">
- <table class="memname">
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- <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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+++ /dev/null
@@ -1,59 +0,0 @@
-<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 */
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-});
-/* @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
deleted file mode 100644
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--- a/doc/html/classAbstract__map__loader.html
+++ /dev/null
@@ -1,721 +0,0 @@
-<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>
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-<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>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a9fdca9d4a86d66a712194e409d799eff">◆ </a></span>base_calculation()</h2>
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-<p>Implemented in <a class="el" href="classMap__loader.html#ac8f429fe039a03dd69505fe899f37310">Map_loader</a>.</p>
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-<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>
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-<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>
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-<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>
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- <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>
-
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-<a id="a460481a298b27e411bafcdc584f1f35a"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a460481a298b27e411bafcdc584f1f35a">◆ </a></span>map_</h2>
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-<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>
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-<a id="a8c4bd31f9c778a3a5ef7a21ab16f6127"></a>
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-
-<div class="memitem">
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- <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>
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-</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>
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-<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>
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- <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>
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- <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>
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- <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>
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- <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>
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- <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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+++ /dev/null
@@ -1,1269 +0,0 @@
-<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">
-<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>
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-/* @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__mediator-members.html">List of all members</a> </div>
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-<p>Abstract mediator.
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-<p><code>#include <<a class="el" href="impl_2abstract__mediator_8h_source.html">abstract_mediator.h</a>></code></p>
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-Inheritance diagram for Abstract_mediator:</div>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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- <td class="paramtype">std::vector< std::vector< tf2::Transform >> </td>
- <td class="paramname"><em>objects</em>, </td>
- </tr>
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- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">ros::Publisher * </td>
- <td class="paramname"><em>pub</em> </td>
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- <td>)</td>
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-<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>
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- <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
- <td class="paramname"><em>d</em></td><td>)</td>
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-<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>
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-<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>
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-<h2 class="groupheader">Member Function Documentation</h2>
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- <td>(</td>
- <td class="paramtype">std::bitset< 3 > & </td>
- <td class="paramname"><em>wing</em>, </td>
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- <td class="paramkey"></td>
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- <td class="paramtype">int & </td>
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-<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>
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- <td>(</td>
- <td class="paramtype">std::bitset< 3 > & </td>
- <td class="paramname"><em>wing</em>, </td>
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- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">int & </td>
- <td class="paramname"><em>robot</em> </td>
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- <td>)</td>
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-<p>pure virtual methode to build specific wings </p>
-<dl class="params"><dt>Parameters</dt><dd>
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- <tr><td class="paramname">robot</td><td><a class="el" href="classRobot.html">Robot</a> index </td></tr>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7dbd0e2d480c9a496aa2fb77a14ab592">◆ </a></span>check_collision() <span class="overload">[1/2]</span></h2>
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- <td class="paramtype">const int & </td>
- <td class="paramname"><em>robot</em></td><td>)</td>
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-<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>
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-<p>pure virtual robot collision checker </p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0c102b5e272139492ab04ce0d4e43234">◆ </a></span>connect_robots() <span class="overload">[1/2]</span></h2>
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- <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>
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-<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>
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- <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>
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-<p>pure virtual robot connecting methode </p>
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-<p>Implemented in <a class="el" href="classBase__calculation__mediator.html#a6804ea3a11a66faf3bcf0429fd016d06">Base_calculation_mediator</a>.</p>
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- <td class="paramname"></td><td>)</td>
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-<p>Get dirname. </p>
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- <td class="paramtype">const float </td>
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- <td class="paramname"><em>resolution</em> </td>
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-<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>
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-<p>pure virtual mediate methode </p>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
- </tr>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<p>Get result_vector. </p>
-<dl class="section return"><dt>Returns</dt><dd>result_vector </dd></dl>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<p>Get robots. </p>
-<dl class="section return"><dt>Returns</dt><dd>robots as decorators </dd></dl>
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-<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>
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-<p>Set dirname. </p>
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-<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>
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- <td>(</td>
- <td class="paramtype">std::map< const std::string, std::vector< pcl::PointXYZ >> & </td>
- <td class="paramname"><em>res</em></td><td>)</td>
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-<p>Set result vector. </p>
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- <td>(</td>
- <td class="paramtype">std::vector< std::vector< pcl::PointXYZ >> & </td>
- <td class="paramname"><em>res</em></td><td>)</td>
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- <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>
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-<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>
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- <td>(</td>
- <td class="paramtype">std::vector< pcl::PointXYZ > & </td>
- <td class="paramname"><em>vector</em></td><td>)</td>
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-<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>
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- <td>(</td>
- <td class="paramtype">std::vector< pcl::PointXYZ > & </td>
- <td class="paramname"><em>vector</em></td><td>)</td>
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-<p>Cloud converter. </p>
-<p>Converts vector of pcl::PointXYZ to a pcl::Pointcloud </p><dl class="params"><dt>Parameters</dt><dd>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- <td>(</td>
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-<p>Get wings. </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad4565f4b98c689289ddda9e7507736ae">◆ </a></span>dirname_</h2>
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-<p>Dirname of the reference protobuff. </p>
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-<p>total bound a workspace </p>
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-</div>
-<a id="a9a48fc344129cd16dc0f20be2d9368ab"></a>
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-<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>
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-</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>
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-
-<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>
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- </td>
- <td class="mlabels-right">
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-
-<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>
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-
-<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>
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-
-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a69df414af025faf785c9034633240282">◆ </a></span>robots_ <span class="overload">[2/2]</span></h2>
-
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-
-<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>
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- </td>
- <td class="mlabels-right">
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-<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>
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- <td class="mlabels-left">
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- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-
-<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>
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-
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- <td class="mlabels-left">
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-
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-<hr/>The documentation for this class was generated from the following files:<ul>
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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 />
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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- <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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-<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>
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-<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>
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-<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>
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-<div class="memitem">
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- <tr>
- <td class="mlabels-left">
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- <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">
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-<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>
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-</div>
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-<a id="ac94e9d3520fdbcd027682226f4b0be8f"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac94e9d3520fdbcd027682226f4b0be8f">◆ </a></span>Abstract_robot() <span class="overload">[2/2]</span></h2>
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-<div class="memitem">
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- <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">
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-<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>
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-</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>
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-<div class="memitem">
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- <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">
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-<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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a64ae098f7cadad8237e663658f038663">◆ </a></span>bounds() <span class="overload">[1/2]</span></h2>
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- <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>
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-</div><div class="memdoc">
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-<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>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a52c63e180b0a31cd9b97b824eb1b5c22">◆ </a></span>bounds() <span class="overload">[2/2]</span></h2>
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- <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">
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-<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>
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-</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>
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- <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>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
- </tr>
-</table>
-</div><div class="memdoc">
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aeb08dc2fa1ecdad08544fb77ff60d78e">◆ </a></span>check_single_object_collision() <span class="overload">[2/2]</span></h2>
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- <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">
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-<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>
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-</div>
-<a id="ad7080256737d26f2d4499d848e8c854a"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ad7080256737d26f2d4499d848e8c854a">◆ </a></span>name() <span class="overload">[1/2]</span></h2>
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-<div class="memitem">
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-<table class="mlabels">
- <tr>
- <td class="mlabels-left">
- <table class="memname">
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- <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>
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-<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>
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-<a id="a1a5d8cd75f0aa634022f09d88066d313"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1a5d8cd75f0aa634022f09d88066d313">◆ </a></span>name() <span class="overload">[2/2]</span></h2>
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-<div class="memitem">
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- <tr>
- <td class="mlabels-left">
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- <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>
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-<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>
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-</div>
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-<a id="acfcaa13dd3824464426f0557ec2e360d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#acfcaa13dd3824464426f0557ec2e360d">◆ </a></span>notify() <span class="overload">[1/2]</span></h2>
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- <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">
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-<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>
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-</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>
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- <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">
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-<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>
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-<a id="a7befa194e7b39c8b9d60f1844f9d1a8b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7befa194e7b39c8b9d60f1844f9d1a8b">◆ </a></span>observer_mask()</h2>
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- <td class="memname">std::bitset<3> Abstract_robot::observer_mask </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aef7449039e62cf8608dbd22222120289">◆ </a></span>robot_root_bounds() <span class="overload">[1/2]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a62093041e9154e06ed573a42a76cc778">◆ </a></span>robot_root_bounds() <span class="overload">[2/2]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#af29a9894b43fc8124de65712414168f4">◆ </a></span>root_tf() <span class="overload">[1/2]</span></h2>
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- <td class="memname">tf2::Transform& Abstract_robot::root_tf </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#af7a230da2f4551f707557a4f5fa447ac">◆ </a></span>root_tf() <span class="overload">[2/2]</span></h2>
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- <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>
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-<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>
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-<a id="a72694508ca6d5ada16236775402dd385"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a72694508ca6d5ada16236775402dd385">◆ </a></span>rotate() <span class="overload">[1/2]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a72694508ca6d5ada16236775402dd385">◆ </a></span>rotate() <span class="overload">[2/2]</span></h2>
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- <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>
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- </table>
- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7f30d6f41a3f7cbdb9839c75b957b366">◆ </a></span>set_observer_mask()</h2>
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- <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>
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- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab27017c6039446502704b443df934a2d">◆ </a></span>set_tf() <span class="overload">[1/2]</span></h2>
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- <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>
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- </table>
- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab27017c6039446502704b443df934a2d">◆ </a></span>set_tf() <span class="overload">[2/2]</span></h2>
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- <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>
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- </table>
- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa3bfc2c32585c42ca88f5fc1e663eb93">◆ </a></span>size() <span class="overload">[1/4]</span></h2>
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- <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">
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a13949665d4f8ac53aadc357883b301da">◆ </a></span>size() <span class="overload">[2/4]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#abd68b299ae1d193e2c4d5ce89a7a2c61">◆ </a></span>size() <span class="overload">[3/4]</span></h2>
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- <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>
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- </table>
- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#abd68b299ae1d193e2c4d5ce89a7a2c61">◆ </a></span>size() <span class="overload">[4/4]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a4d636b2de764243b145577db70637d63">◆ </a></span>tf() <span class="overload">[1/2]</span></h2>
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- <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">
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae3e4f92f97f4a55fe9cb7196024fe30a">◆ </a></span>tf() <span class="overload">[2/2]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a126e52a7696cf030f5697dd93439775f">◆ </a></span>translate() <span class="overload">[1/2]</span></h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a126e52a7696cf030f5697dd93439775f">◆ </a></span>translate() <span class="overload">[2/2]</span></h2>
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- <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>
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-<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>
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-</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
deleted file mode 100644
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+++ /dev/null
@@ -1,73 +0,0 @@
-<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>
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-/* @license-end */</script>
-<div id="main-nav"></div>
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-<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
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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Abstract_robot_decorator Class Reference</title>
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-<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>
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-</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>
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-<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>
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-<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>
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-<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>
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-</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>
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- <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>
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- </td>
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-<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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-<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>
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-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a889edd0d57abce0f6c2a6bc14bcbee6e"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a889edd0d57abce0f6c2a6bc14bcbee6e">◆ </a></span>bounds()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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-<p>Implements <a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">Abstract_robot</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad0c58aab1a4758916e8b448f83b1eec7">◆ </a></span>check_single_object_collision()</h2>
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- <td>(</td>
- <td class="paramtype">tf2::Transform & </td>
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- <td class="paramkey"></td>
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- <td class="paramtype">std::string & </td>
- <td class="paramname"><em>b</em> </td>
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- <td></td>
- <td>)</td>
- <td></td><td></td>
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-<p>Implements <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>.</p>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<p>Implements <a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">Abstract_robot</a>.</p>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a9a1d6aa0f1bdeeabe95517b0408e0cf8">◆ </a></span>notify()</h2>
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-<p>Implements <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>.</p>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-</div><div class="memdoc">
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-<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">
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- <td class="mlabels-left">
- <table class="memname">
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- <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>
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-<div class="memitem">
-<div class="memproto">
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- <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>
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-</div>
-</div>
-<a id="a86429ab626717a96cd34de271bb75c5c"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a86429ab626717a96cd34de271bb75c5c">◆ </a></span>map_</h2>
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-<div class="memitem">
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- <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">
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- <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
deleted file mode 100644
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--- a/doc/html/classAbstract__robot__decorator__inherit__graph.map
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deleted file mode 100644
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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 a/doc/html/classAbstract__robot__decorator__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classAbstract__robot__element-members.html b/doc/html/classAbstract__robot__element-members.html
deleted file mode 100644
index e635a903d2e619752eb41a52b141e7bc51957d5e..0000000000000000000000000000000000000000
--- a/doc/html/classAbstract__robot__element-members.html
+++ /dev/null
@@ -1,58 +0,0 @@
-<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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-<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
deleted file mode 100644
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+++ /dev/null
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-<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>
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-});
-/* @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">
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-<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>
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- <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>
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-</div><div class="memdoc">
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-</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>
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- <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>
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-<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>
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-</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>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a19e094e1639e2c72ead481a3c6c9ec24">◆ </a></span>calc_world_tf() <span class="overload">[1/2]</span></h2>
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- <td>(</td>
- <td class="paramtype">tf2::Transform & </td>
- <td class="paramname"><em>tf</em></td><td>)</td>
- <td></td>
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-<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>
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-<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>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a910a29582a54972c947fa57bbdc444ec">◆ </a></span>name()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad3ee9aff6d4fb1e4e90775e943e65861">◆ </a></span>relative_tf() <span class="overload">[1/2]</span></h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<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>
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-<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>
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- <td>(</td>
- <td class="paramtype">tf2::Transform </td>
- <td class="paramname"><em>tf</em></td><td>)</td>
- <td></td>
- </tr>
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-<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>
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-<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>
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-<div class="memitem">
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- <td class="mlabels-left">
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- <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>
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-<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>
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-<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>
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- <td>(</td>
- <td class="paramtype">tf2::Transform & </td>
- <td class="paramname"><em>tf</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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-<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>
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-<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>
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- <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>
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-</div><div class="memdoc">
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2eb0ca7627bba7b58e85046532e68269">◆ </a></span>size()</h2>
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- <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">
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-<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>
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-<a id="aecee1e1a5ca1f40473f325583b39dd9d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aecee1e1a5ca1f40473f325583b39dd9d">◆ </a></span>update() <span class="overload">[1/2]</span></h2>
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- <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>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aecee1e1a5ca1f40473f325583b39dd9d">◆ </a></span>update() <span class="overload">[2/2]</span></h2>
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-<div class="memitem">
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- <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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a99d0cb9e273cdfb373d4c974529b1ad6">◆ </a></span>world_tf() <span class="overload">[1/2]</span></h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a6886c5fcf4a701aaab12b93fef87e3a6">◆ </a></span>world_tf() <span class="overload">[2/2]</span></h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
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-<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>
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-</div>
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-<h2 class="groupheader">Member Data Documentation</h2>
-<a id="a4d44edf1d412564ef916f16ee9035116"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a4d44edf1d412564ef916f16ee9035116">◆ </a></span>bounds_</h2>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#adcaadf1f399625d67747ce746a0cc928">◆ </a></span>name_</h2>
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- <td class="memname">std::string Abstract_robot_element::name_</td>
- </tr>
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- </td>
- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<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>
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-<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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad42d8ba185583e644e00af1c2298a38d">◆ </a></span>world_tf_</h2>
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-<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>
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diff --git a/doc/html/classAbstract__robot__element__decorator-members.html b/doc/html/classAbstract__robot__element__decorator-members.html
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-</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>
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- <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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@@ -1,607 +0,0 @@
-<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"/>
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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: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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2c76b8c0d4e487517e8c874e75613162">◆ </a></span>Abstract_robot_element_decorator() <span class="overload">[2/2]</span></h2>
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- <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>
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-<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>
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-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="ac06ca3833192af0e719c22419c07ccbb"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac06ca3833192af0e719c22419c07ccbb">◆ </a></span>bounds()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </td>
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-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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-<p>Implements <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>.</p>
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-<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>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
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-<p>Implemented in <a class="el" href="classLog__decorator.html#ac31262be083a8b9f2105b7f0211db7d6">Log_decorator</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa43d886a91e05c76c2cad7695d1662ff">◆ </a></span>input_filter() <span class="overload">[2/2]</span></h2>
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- <td>(</td>
- <td class="paramtype">tf2::Transform & </td>
- <td class="paramname"><em>tf</em></td><td>)</td>
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-<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>
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-<p>Implements <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>.</p>
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-<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>
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-<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>
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-<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>
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-<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>
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- <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>
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-<p>Implements <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>.</p>
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-<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>
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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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-<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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diff --git a/doc/html/classBaseCalculationMediator-members.html b/doc/html/classBaseCalculationMediator-members.html
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+++ b/doc/html/classBaseCalculationMediator-members.html
@@ -0,0 +1,71 @@
+<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">BaseCalculationMediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">approximation</a>(std::map< const std::string, std::vector< tf2::Transform >> &workcell, std::vector< protobuf_entry > &wc_solution)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">calculate</a>(std::map< const std::string, std::vector< tf2::Transform >> &workcell)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">checkCollision</a>(const std::string &robot, std::bitset< 3 > &panel_mask, bool &workload, std::vector< object_data > &ts)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot) override</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a></td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">generateGrounds</a>(const tf2::Vector3 origin, const float diameter, float resolution)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">grounds_</a></td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">mediate</a>() override</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">protobuf_</a></td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a></td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">publish</a>(CetiRobot *r)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">sceneCollision</a>(std::vector< protobuf_entry > &wc_solution)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">setPanel</a>() override</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">setupRviz</a>()</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">wings_</a></td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">writeFile</a>(std::vector< protobuf_entry > &wc_solution)</td><td class="entry"><a class="el" href="classBaseCalculationMediator.html">BaseCalculationMediator</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classBaseCalculationMediator.html b/doc/html/classBaseCalculationMediator.html
new file mode 100644
index 0000000000000000000000000000000000000000..70c395d02fc9e81b8cd7781859826f35d6383ce6
--- /dev/null
+++ b/doc/html/classBaseCalculationMediator.html
@@ -0,0 +1,695 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: BaseCalculationMediator 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="classBaseCalculationMediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">BaseCalculationMediator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Concrete Mediator.
+ <a href="classBaseCalculationMediator.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 BaseCalculationMediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classBaseCalculationMediator__inherit__graph.png" border="0" usemap="#BaseCalculationMediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="BaseCalculationMediator_inherit__map" id="BaseCalculationMediator_inherit__map">
+<area shape="rect" title="Concrete Mediator." alt="" coords="5,80,191,107"/>
+<area shape="rect" href="classAbstractMediator.html" title="AbstractMediator." alt="" coords="31,5,165,32"/>
+</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:ad0821305631031904031b6ca17c9b278"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">approximation</a> (std::map< const std::string, std::vector< tf2::Transform >> &workcell, std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > &wc_solution)</td></tr>
+<tr class="memdesc:ad0821305631031904031b6ca17c9b278"><td class="mdescLeft"> </td><td class="mdescRight">Approximates other robots to fit in the workspace. <a href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">More...</a><br /></td></tr>
+<tr class="separator:ad0821305631031904031b6ca17c9b278"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a473e10b5d9be7303626d19c376bfb989"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a473e10b5d9be7303626d19c376bfb989"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classBaseCalculationMediator.html" title="Concrete Mediator.">BaseCalculationMediator</a> constructor. <a href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">More...</a><br /></td></tr>
+<tr class="separator:a473e10b5d9be7303626d19c376bfb989"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a71b1c29a63fb269359155c9da5bd98dd"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">calculate</a> (std::map< const std::string, std::vector< tf2::Transform >> &workcell)</td></tr>
+<tr class="memdesc:a71b1c29a63fb269359155c9da5bd98dd"><td class="mdescLeft"> </td><td class="mdescRight">Workspace calculator. <a href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">More...</a><br /></td></tr>
+<tr class="separator:a71b1c29a63fb269359155c9da5bd98dd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad0a7b1bdcbb5cf791e21ef6a54d27b9c"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">checkCollision</a> (const std::string &robot, std::bitset< 3 > &panel_mask, bool &workload, std::vector< <a class="el" href="structobject__data.html">object_data</a> > &ts)</td></tr>
+<tr class="memdesc:ad0a7b1bdcbb5cf791e21ef6a54d27b9c"><td class="mdescLeft"> </td><td class="mdescRight">check_collision <a href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">More...</a><br /></td></tr>
+<tr class="separator:ad0a7b1bdcbb5cf791e21ef6a54d27b9c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a475d026e0344626a5b68f7a8db3b4f5a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">connectRobots</a> (std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > robot) override</td></tr>
+<tr class="memdesc:a475d026e0344626a5b68f7a8db3b4f5a"><td class="mdescLeft"> </td><td class="mdescRight">Robot Connector implementation. <a href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">More...</a><br /></td></tr>
+<tr class="separator:a475d026e0344626a5b68f7a8db3b4f5a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af1e8d7efc6cdfae12f18decc0008187c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">generateGrounds</a> (const tf2::Vector3 origin, const float diameter, float resolution)</td></tr>
+<tr class="memdesc:af1e8d7efc6cdfae12f18decc0008187c"><td class="mdescLeft"> </td><td class="mdescRight">Ground generator. <a href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">More...</a><br /></td></tr>
+<tr class="separator:af1e8d7efc6cdfae12f18decc0008187c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a329be680a6366d7a31e9d009eff70920"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">mediate</a> () override</td></tr>
+<tr class="memdesc:a329be680a6366d7a31e9d009eff70920"><td class="mdescLeft"> </td><td class="mdescRight">Mediator implementation. <a href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">More...</a><br /></td></tr>
+<tr class="separator:a329be680a6366d7a31e9d009eff70920"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6a1ec0763b38dc5b84abc74ddf8a77a9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">publish</a> (<a class="el" href="classCetiRobot.html">CetiRobot</a> *r)</td></tr>
+<tr class="memdesc:a6a1ec0763b38dc5b84abc74ddf8a77a9"><td class="mdescLeft"> </td><td class="mdescRight">Marker publishing methode. <a href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">More...</a><br /></td></tr>
+<tr class="separator:a6a1ec0763b38dc5b84abc74ddf8a77a9"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c28239ef77e98ca768784e441a9e012"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">sceneCollision</a> (std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > &wc_solution)</td></tr>
+<tr class="separator:a2c28239ef77e98ca768784e441a9e012"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab90e7d35612b9548d823fee2b81ce5fa"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">setPanel</a> () override</td></tr>
+<tr class="memdesc:ab90e7d35612b9548d823fee2b81ce5fa"><td class="mdescLeft"> </td><td class="mdescRight">pure virtual Sets panels for robots <a href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">More...</a><br /></td></tr>
+<tr class="separator:ab90e7d35612b9548d823fee2b81ce5fa"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac9037e54089f643e890763642efebc84"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">setupRviz</a> ()</td></tr>
+<tr class="memdesc:ac9037e54089f643e890763642efebc84"><td class="mdescLeft"> </td><td class="mdescRight">Rviz setup methode. <a href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">More...</a><br /></td></tr>
+<tr class="separator:ac9037e54089f643e890763642efebc84"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a127fc02c11e4aad5ac4aa58b793c1e54"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">writeFile</a> (std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > &wc_solution)</td></tr>
+<tr class="memdesc:a127fc02c11e4aad5ac4aa58b793c1e54"><td class="mdescLeft"> </td><td class="mdescRight">Writes result file. <a href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">More...</a><br /></td></tr>
+<tr class="separator:a127fc02c11e4aad5ac4aa58b793c1e54"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractMediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr>
+<tr class="memitem:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">More...</a><br /></td></tr>
+<tr class="separator:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr>
+<tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr>
+<tr class="separator:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a> ()</td></tr>
+<tr class="memdesc:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">More...</a><br /></td></tr>
+<tr class="separator:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classRobotReader.html">RobotReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a> ()</td></tr>
+<tr class="memdesc:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Robot_reader. <a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">More...</a><br /></td></tr>
+<tr class="separator:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a> ()</td></tr>
+<tr class="memdesc:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">More...</a><br /></td></tr>
+<tr class="separator:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">More...</a><br /></td></tr>
+<tr class="separator:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">More...</a><br /></td></tr>
+<tr class="separator:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">More...</a><br /></td></tr>
+<tr class="separator:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classWingReader.html">WingReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a> ()</td></tr>
+<tr class="memdesc:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Wing_reader. <a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">More...</a><br /></td></tr>
+<tr class="separator:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a> ()</td></tr>
+<tr class="memdesc:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">More...</a><br /></td></tr>
+<tr class="separator:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ac5d3fbee8f8d0cfe400014da7be6ac98"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">filename_</a></td></tr>
+<tr class="separator:ac5d3fbee8f8d0cfe400014da7be6ac98"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0b765402d1ddf2337796bda78f9114dd"><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="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">grounds_</a></td></tr>
+<tr class="memdesc:a0b765402d1ddf2337796bda78f9114dd"><td class="mdescLeft"> </td><td class="mdescRight">Possible ground positions per robots. <a href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">More...</a><br /></td></tr>
+<tr class="separator:a0b765402d1ddf2337796bda78f9114dd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ace0933d700ae441525470f53e1ee6340"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">protobuf_</a></td></tr>
+<tr class="memdesc:ace0933d700ae441525470f53e1ee6340"><td class="mdescLeft"> </td><td class="mdescRight">Datastructure as product of all baseposition -> robot combinations. <a href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">More...</a><br /></td></tr>
+<tr class="separator:ace0933d700ae441525470f53e1ee6340"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af021b903e94426375568964bc90973e3"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< ros::Publisher > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">pub_</a></td></tr>
+<tr class="memdesc:af021b903e94426375568964bc90973e3"><td class="mdescLeft"> </td><td class="mdescRight">Publisher sharing visualization messages of the scene. <a href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">More...</a><br /></td></tr>
+<tr class="separator:af021b903e94426375568964bc90973e3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5a9ec25501705a48e1d2fe47f1d00add"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">wings_</a></td></tr>
+<tr class="memdesc:a5a9ec25501705a48e1d2fe47f1d00add"><td class="mdescLeft"> </td><td class="mdescRight">Possible panels per robot. <a href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">More...</a><br /></td></tr>
+<tr class="separator:a5a9ec25501705a48e1d2fe47f1d00add"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractMediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr>
+<tr class="memitem:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr>
+<tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr>
+<tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td></tr>
+<tr class="memdesc:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Nodehandle for access to the Rosparam server. <a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">More...</a><br /></td></tr>
+<tr class="separator:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Transform > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td></tr>
+<tr class="memdesc:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">More...</a><br /></td></tr>
+<tr class="separator:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td></tr>
+<tr class="memdesc:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">More...</a><br /></td></tr>
+<tr class="separator:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classRobotReader.html">RobotReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td></tr>
+<tr class="memdesc:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Robot_reader which collects robot poses. <a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">More...</a><br /></td></tr>
+<tr class="separator:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td></tr>
+<tr class="memdesc:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">More...</a><br /></td></tr>
+<tr class="separator:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTSReader.html">TSReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td></tr>
+<tr class="memdesc:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">More...</a><br /></td></tr>
+<tr class="separator:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classWingReader.html">WingReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td></tr>
+<tr class="memdesc:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Wing_reader which collects panel information of robots. <a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">More...</a><br /></td></tr>
+<tr class="separator:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b24efa2ec432e60f25c6a54970775fc inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td></tr>
+<tr class="separator:a9b24efa2ec432e60f25c6a54970775fc inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Concrete Mediator. </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#l00023">23</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="a473e10b5d9be7303626d19c376bfb989"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a473e10b5d9be7303626d19c376bfb989">◆ </a></span>BaseCalculationMediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">BaseCalculationMediator::BaseCalculationMediator </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="classBaseCalculationMediator.html" title="Concrete Mediator.">BaseCalculationMediator</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="ad0821305631031904031b6ca17c9b278"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0821305631031904031b6ca17c9b278">◆ </a></span>approximation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::approximation </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< tf2::Transform >> & </td>
+ <td class="paramname"><em>workcell</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > & </td>
+ <td class="paramname"><em>wc_solution</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</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#l00305">305</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a71b1c29a63fb269359155c9da5bd98dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71b1c29a63fb269359155c9da5bd98dd">◆ </a></span>calculate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::calculate </td>
+ <td>(</td>
+ <td class="paramtype">std::map< const std::string, std::vector< tf2::Transform >> & </td>
+ <td class="paramname"><em>workcell</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Workspace calculator. </p>
+<p>calculates for given robots and corresponding base position, all possible combinations. </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">workcell</td><td>map of robots with corresponding base position </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00203">203</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ad0a7b1bdcbb5cf791e21ef6a54d27b9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">◆ </a></span>checkCollision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool BaseCalculationMediator::checkCollision </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>robot</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>panel_mask</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">bool & </td>
+ <td class="paramname"><em>workload</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::vector< <a class="el" href="structobject__data.html">object_data</a> > & </td>
+ <td class="paramname"><em>ts</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>check_collision </p>
+<p>Checks task_space of robot for collision. Also provides information about workload. </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot[IN]</td><td>std::string providing robot name <br />
+ </td></tr>
+ <tr><td class="paramname">panel_mask[IN]</td><td>bitmap providing which robot_elements to check </td></tr>
+ <tr><td class="paramname">[OUT]</td><td>workload desribing if robot/all robots_elements were used </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if task_space collides with robot/robot_elements </dd></dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00063">63</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a475d026e0344626a5b68f7a8db3b4f5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a475d026e0344626a5b68f7a8db3b4f5a">◆ </a></span>connectRobots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::connectRobots </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > </td>
+ <td class="paramname"><em>robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Robot 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="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00025">25</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af1e8d7efc6cdfae12f18decc0008187c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1e8d7efc6cdfae12f18decc0008187c">◆ </a></span>generateGrounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::generateGrounds </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#l00013">13</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a329be680a6366d7a31e9d009eff70920"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a329be680a6366d7a31e9d009eff70920">◆ </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 BaseCalculationMediator::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>Mediator 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="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00130">130</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6a1ec0763b38dc5b84abc74ddf8a77a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a1ec0763b38dc5b84abc74ddf8a77a9">◆ </a></span>publish()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::publish </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classCetiRobot.html">CetiRobot</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>Robot </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00646">646</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a2c28239ef77e98ca768784e441a9e012"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c28239ef77e98ca768784e441a9e012">◆ </a></span>sceneCollision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool BaseCalculationMediator::sceneCollision </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > & </td>
+ <td class="paramname"><em>wc_solution</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00469">469</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ab90e7d35612b9548d823fee2b81ce5fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab90e7d35612b9548d823fee2b81ce5fa">◆ </a></span>setPanel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::setPanel </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>pure virtual Sets panels for robots </p>
+
+<p>Implements <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00030">30</a> of file <a class="el" href="base__calculation__mediator_8cpp_source.html">base_calculation_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ac9037e54089f643e890763642efebc84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9037e54089f643e890763642efebc84">◆ </a></span>setupRviz()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::setupRviz </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="a127fc02c11e4aad5ac4aa58b793c1e54"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a127fc02c11e4aad5ac4aa58b793c1e54">◆ </a></span>writeFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void BaseCalculationMediator::writeFile </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< <a class="el" href="structprotobuf__entry.html">protobuf_entry</a> > & </td>
+ <td class="paramname"><em>wc_solution</em></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">wc_solution</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8cpp_source.html#l00555">555</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="ac5d3fbee8f8d0cfe400014da7be6ac98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5d3fbee8f8d0cfe400014da7be6ac98">◆ </a></span>filename_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string BaseCalculationMediator::filename_</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="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="a0b765402d1ddf2337796bda78f9114dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b765402d1ddf2337796bda78f9114dd">◆ </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> > BaseCalculationMediator::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#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="ace0933d700ae441525470f53e1ee6340"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace0933d700ae441525470f53e1ee6340">◆ </a></span>protobuf_</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<<a class="el" href="structprotobuf__entry.html">protobuf_entry</a>> > > BaseCalculationMediator::protobuf_</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>Datastructure as product of all baseposition -> robot combinations. </p>
+
+<p class="definition">Definition at line <a class="el" href="base__calculation__mediator_8h_source.html#l00028">28</a> of file <a class="el" href="base__calculation__mediator_8h_source.html">base_calculation_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="af021b903e94426375568964bc90973e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af021b903e94426375568964bc90973e3">◆ </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> BaseCalculationMediator::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#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="a5a9ec25501705a48e1d2fe47f1d00add"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a9ec25501705a48e1d2fe47f1d00add">◆ </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="classAbstractRobotElement.html">AbstractRobotElement</a>> > > BaseCalculationMediator::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#l00027">27</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classBaseCalculationMediator__inherit__graph.map b/doc/html/classBaseCalculationMediator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..2e2f2ea0f7a273f5150d2682d8bea4bde32332cf
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..a03a78aa8dff63d528145f5d6afd9a534ed6b890
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+++ b/doc/html/classBaseCalculationMediator__inherit__graph.md5
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diff --git a/doc/html/classBaseCalculationMediator__inherit__graph.png b/doc/html/classBaseCalculationMediator__inherit__graph.png
new file mode 100644
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diff --git a/doc/html/classBase__by__rotation-members.html b/doc/html/classBase__by__rotation-members.html
deleted file mode 100644
index 4e4250bcfada2a6d96554e8780c02df25eeb4a6e..0000000000000000000000000000000000000000
--- a/doc/html/classBase__by__rotation-members.html
+++ /dev/null
@@ -1,42 +0,0 @@
-<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
deleted file mode 100644
index ae41f49537bf566c081ad44dbcf1b63f4e809a96..0000000000000000000000000000000000000000
--- a/doc/html/classBase__by__rotation.html
+++ /dev/null
@@ -1,183 +0,0 @@
-<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">
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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="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
deleted file mode 100644
index d15c62e131984b5129a06427c911099ec590044b..0000000000000000000000000000000000000000
--- a/doc/html/classBase__by__rotation__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<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="$classAbstract__strategy.html" title=" " alt="" coords="5,5,143,32"/>
-</map>
diff --git a/doc/html/classBase__by__rotation__inherit__graph.md5 b/doc/html/classBase__by__rotation__inherit__graph.md5
deleted file mode 100644
index b22765093d71a6409cbe9a000f04c5b1b1c129ed..0000000000000000000000000000000000000000
--- a/doc/html/classBase__by__rotation__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-9d4a5582bedfe0e62d277a5d2b760627
\ No newline at end of file
diff --git a/doc/html/classBase__by__rotation__inherit__graph.png b/doc/html/classBase__by__rotation__inherit__graph.png
deleted file mode 100644
index 6fc84f1c0036cc96f171a6a764b738f805c3dc1a..0000000000000000000000000000000000000000
Binary files a/doc/html/classBase__by__rotation__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classBase__calculation__mediator-members.html b/doc/html/classBase__calculation__mediator-members.html
deleted file mode 100644
index 38d10213a88566fac8d9080ad780d083d712fa26..0000000000000000000000000000000000000000
--- a/doc/html/classBase__calculation__mediator-members.html
+++ /dev/null
@@ -1,83 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</title>
-<link href="doxygen.css" rel="stylesheet" type="text/css">
-<link href="tabs.css" rel="stylesheet" type="text/css">
-<script type="text/javascript" src="jquery.js"></script>
-</head>
-<body onload='searchBox.OnSelectItem(0);'>
-<!-- Generated by Doxygen 1.8.17 -->
-<script type="text/javascript" src="menudata.js"></script>
-<script type="text/javascript" src="menu.js"></script>
-<script type="text/javascript">
-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
-$(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
deleted file mode 100644
index a3ac818878313bea9da102623397fb00aeec114a..0000000000000000000000000000000000000000
--- a/doc/html/classBase__calculation__mediator.html
+++ /dev/null
@@ -1,789 +0,0 @@
-<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>
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-<div class="memitem">
-<div class="memproto">
- <table class="memname">
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- <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">
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-<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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deleted file mode 100644
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--- a/doc/html/classBase__calculation__mediator__inherit__graph.map
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new file mode 100644
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--- /dev/null
+++ b/doc/html/classCetiRobot-members.html
@@ -0,0 +1,65 @@
+<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">CetiRobot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classCetiRobot.html">CetiRobot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">bounds</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot</a>(std::string &name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">checkSingleObjectCollision</a>(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">inCollision</a>(CetiRobot *R)</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">notify</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">observer_mask_</a></td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a>()</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a>()</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a></td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">reset</a>()</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">robotRootBounds</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</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="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">rootTf</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</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="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(int i)</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">setObservers</a>(std::vector< std::unique_ptr< AbstractRobotElementDecorator >> &observer)</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</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="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>() override</td><td class="entry"><a class="el" href="classCetiRobot.html">CetiRobot</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="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCetiRobot.html b/doc/html/classCetiRobot.html
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@@ -0,0 +1,678 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: CetiRobot 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="classCetiRobot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">CetiRobot Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Concrete Ceti-Robot.
+ <a href="classCetiRobot.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 CetiRobot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classCetiRobot__inherit__graph.png" border="0" usemap="#CetiRobot_inherit__map" alt="Inheritance graph"/></div>
+<map name="CetiRobot_inherit__map" id="CetiRobot_inherit__map">
+<area shape="rect" title="Concrete Ceti-Robot." alt="" coords="19,80,106,107"/>
+<area shape="rect" href="classAbstractRobot.html" title="Abstract Robot implementation." 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:a95281ac8e16b0286e8e54cc780470551"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">bounds</a> () override</td></tr>
+<tr class="separator:a95281ac8e16b0286e8e54cc780470551"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7129c9941dd3d638b1f7916302814031"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot</a> (std::string &<a class="el" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a>, tf2::Transform <a class="el" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a>, tf2::Vector3 <a class="el" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a>)</td></tr>
+<tr class="memdesc:a7129c9941dd3d638b1f7916302814031"><td class="mdescLeft"> </td><td class="mdescRight">Ceti robot constructor. <a href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">More...</a><br /></td></tr>
+<tr class="separator:a7129c9941dd3d638b1f7916302814031"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aec53b09b5915dd3f444567a5fb821f79"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">checkSingleObjectCollision</a> (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td></tr>
+<tr class="memdesc:aec53b09b5915dd3f444567a5fb821f79"><td class="mdescLeft"> </td><td class="mdescRight">Collsion calculation for single objects. <a href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">More...</a><br /></td></tr>
+<tr class="separator:aec53b09b5915dd3f444567a5fb821f79"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aff35711aae4f6c1f67370666bd8328c5"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">inCollision</a> (<a class="el" href="classCetiRobot.html">CetiRobot</a> *R)</td></tr>
+<tr class="memdesc:aff35711aae4f6c1f67370666bd8328c5"><td class="mdescLeft"> </td><td class="mdescRight">Collsion calculation. <a href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">More...</a><br /></td></tr>
+<tr class="separator:aff35711aae4f6c1f67370666bd8328c5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6573899bb57e886d4d3aea1952682992"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">name</a> () override</td></tr>
+<tr class="separator:a6573899bb57e886d4d3aea1952682992"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab489d27cc52734c8d2fd2fb11917a26c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">notify</a> () override</td></tr>
+<tr class="memdesc:ab489d27cc52734c8d2fd2fb11917a26c"><td class="mdescLeft"> </td><td class="mdescRight">Observer pattern. <a href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">More...</a><br /></td></tr>
+<tr class="separator:ab489d27cc52734c8d2fd2fb11917a26c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7a57e87b0c6d8e471901ec5b16b6b44e"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">observerMask</a> ()</td></tr>
+<tr class="separator:a7a57e87b0c6d8e471901ec5b16b6b44e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0ea161092fdc570497c5a94554e2ee50"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">observers</a> ()</td></tr>
+<tr class="memdesc:a0ea161092fdc570497c5a94554e2ee50"><td class="mdescLeft"> </td><td class="mdescRight">Get observers. <a href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">More...</a><br /></td></tr>
+<tr class="separator:a0ea161092fdc570497c5a94554e2ee50"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae06d6a61f22ab0a49d4d49006815663f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">reset</a> ()</td></tr>
+<tr class="memdesc:ae06d6a61f22ab0a49d4d49006815663f"><td class="mdescLeft"> </td><td class="mdescRight">Resset all robot properties. <a href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">More...</a><br /></td></tr>
+<tr class="separator:ae06d6a61f22ab0a49d4d49006815663f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1d10e70945cee096beee20d3c5d722dd"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">robotRootBounds</a> () override</td></tr>
+<tr class="separator:a1d10e70945cee096beee20d3c5d722dd"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a56c4d8b5889f12b26f06b186d896b0d8"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">rootTf</a> () override</td></tr>
+<tr class="separator:a56c4d8b5889f12b26f06b186d896b0d8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af0c39df122cc6a567624184b893c3b64"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a> (int i)</td></tr>
+<tr class="separator:af0c39df122cc6a567624184b893c3b64"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0d00ded41398ce27f591581515630877"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">setObservers</a> (std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a> >> &observer)</td></tr>
+<tr class="memdesc:a0d00ded41398ce27f591581515630877"><td class="mdescLeft"> </td><td class="mdescRight">Set observers. <a href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">More...</a><br /></td></tr>
+<tr class="separator:a0d00ded41398ce27f591581515630877"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa6c0a4be3271f80cd721a0229c4e821f"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">size</a> () override</td></tr>
+<tr class="separator:aa6c0a4be3271f80cd721a0229c4e821f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a153ed782c15db3966bea479d4e5917f3"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">tf</a> () override</td></tr>
+<tr class="separator:a153ed782c15db3966bea479d4e5917f3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a> (std::string <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>)</td></tr>
+<tr class="separator:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">More...</a><br /></td></tr>
+<tr class="separator:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a> (float deg)</td></tr>
+<tr class="separator:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><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:a497e644a1776b6cd73b8d3f225e39c6a"><td class="memItemLeft" align="right" valign="top">std::bitset< 3 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">observer_mask_</a></td></tr>
+<tr class="memdesc:a497e644a1776b6cd73b8d3f225e39c6a"><td class="mdescLeft"> </td><td class="mdescRight">Bitmap to set observers. <a href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">More...</a><br /></td></tr>
+<tr class="separator:a497e644a1776b6cd73b8d3f225e39c6a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afb7a1aa241b2fd7897d842da3eb17f26"><td class="memItemLeft" align="right" valign="top">std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">observers_</a></td></tr>
+<tr class="memdesc:afb7a1aa241b2fd7897d842da3eb17f26"><td class="mdescLeft"> </td><td class="mdescRight">Wing shared pointers. <a href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">More...</a><br /></td></tr>
+<tr class="separator:afb7a1aa241b2fd7897d842da3eb17f26"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td></tr>
+<tr class="memdesc:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">More...</a><br /></td></tr>
+<tr class="separator:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td></tr>
+<tr class="memdesc:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">More...</a><br /></td></tr>
+<tr class="separator:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">More...</a><br /></td></tr>
+<tr class="separator:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td></tr>
+<tr class="memdesc:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Robot root on table top. <a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">More...</a><br /></td></tr>
+<tr class="separator:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td></tr>
+<tr class="memdesc:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">More...</a><br /></td></tr>
+<tr class="separator:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td></tr>
+<tr class="memdesc:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">More...</a><br /></td></tr>
+<tr class="separator:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><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#l00014">14</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="a7129c9941dd3d638b1f7916302814031"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7129c9941dd3d638b1f7916302814031">◆ </a></span>CetiRobot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">CetiRobot::CetiRobot </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 Robot 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#l00004">4</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="a95281ac8e16b0286e8e54cc780470551"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a95281ac8e16b0286e8e54cc780470551">◆ </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>& CetiRobot::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="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00036">36</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="aec53b09b5915dd3f444567a5fb821f79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec53b09b5915dd3f444567a5fb821f79">◆ </a></span>checkSingleObjectCollision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool CetiRobot::checkSingleObjectCollision </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>robot_element</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::bitset< 3 > & </td>
+ <td class="paramname"><em>panel_mask</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>Calculates collision between objects and robot_elemets, which are defined by the robot and its panels. Provides collision surface </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">[IN]</td><td>obj pose to check </td></tr>
+ <tr><td class="paramname">[IN]</td><td>panel_mask discribing panels to check </td></tr>
+ <tr><td class="paramname">[OUT]</td><td>robot_element std::string describing the collision surface </td></tr>
+ </table>
+ </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if collsision on robot or wings </dd></dl>
+
+<p>Implements <a class="el" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00010">10</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aff35711aae4f6c1f67370666bd8328c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff35711aae4f6c1f67370666bd8328c5">◆ </a></span>inCollision()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool CetiRobot::inCollision </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classCetiRobot.html">CetiRobot</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 Robot 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>Robot 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#l00073">73</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a6573899bb57e886d4d3aea1952682992"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6573899bb57e886d4d3aea1952682992">◆ </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& CetiRobot::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="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00032">32</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ab489d27cc52734c8d2fd2fb11917a26c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab489d27cc52734c8d2fd2fb11917a26c">◆ </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 CetiRobot::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="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8cpp_source.html#l00068">68</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a7a57e87b0c6d8e471901ec5b16b6b44e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a57e87b0c6d8e471901ec5b16b6b44e">◆ </a></span>observerMask()</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> CetiRobot::observerMask </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#l00082">82</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a0ea161092fdc570497c5a94554e2ee50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ea161092fdc570497c5a94554e2ee50">◆ </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="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a>> >& CetiRobot::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="ae06d6a61f22ab0a49d4d49006815663f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae06d6a61f22ab0a49d4d49006815663f">◆ </a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void CetiRobot::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#l00063">63</a> of file <a class="el" href="ceti__robot_8cpp_source.html">ceti_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a1d10e70945cee096beee20d3c5d722dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d10e70945cee096beee20d3c5d722dd">◆ </a></span>robotRootBounds()</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>& CetiRobot::robotRootBounds </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="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00037">37</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a56c4d8b5889f12b26f06b186d896b0d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56c4d8b5889f12b26f06b186d896b0d8">◆ </a></span>rootTf()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform& CetiRobot::rootTf </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="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00035">35</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="af0c39df122cc6a567624184b893c3b64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af0c39df122cc6a567624184b893c3b64">◆ </a></span>setObserverMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void CetiRobot::setObserverMask </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#l00083">83</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a0d00ded41398ce27f591581515630877"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d00ded41398ce27f591581515630877">◆ </a></span>setObservers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void CetiRobot::setObservers </td>
+ <td>(</td>
+ <td class="paramtype">std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a> >> & </td>
+ <td class="paramname"><em>observer</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 observers. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">observer</td><td>vector </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<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="aa6c0a4be3271f80cd721a0229c4e821f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6c0a4be3271f80cd721a0229c4e821f">◆ </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& CetiRobot::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="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00034">34</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a153ed782c15db3966bea479d4e5917f3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a153ed782c15db3966bea479d4e5917f3">◆ </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& CetiRobot::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="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">AbstractRobot</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00033">33</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a497e644a1776b6cd73b8d3f225e39c6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a497e644a1776b6cd73b8d3f225e39c6a">◆ </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> CetiRobot::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#l00017">17</a> of file <a class="el" href="ceti__robot_8h_source.html">ceti_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="afb7a1aa241b2fd7897d842da3eb17f26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afb7a1aa241b2fd7897d842da3eb17f26">◆ </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="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a>> > CetiRobot::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>Wing shared pointers. </p>
+
+<p class="definition">Definition at line <a class="el" href="ceti__robot_8h_source.html#l00016">16</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCetiRobot__inherit__graph.map b/doc/html/classCetiRobot__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..f4c6eef7561f63907a3a22abbb770ceb897c6341
--- /dev/null
+++ b/doc/html/classCetiRobot__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="CetiRobot" name="CetiRobot">
+<area shape="rect" id="node1" title="Concrete Ceti-Robot." alt="" coords="19,80,106,107"/>
+<area shape="rect" id="node2" href="$classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="5,5,120,32"/>
+</map>
diff --git a/doc/html/classCetiRobot__inherit__graph.md5 b/doc/html/classCetiRobot__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..3fc790b40ed20aa11ab8fea799db91424edafd19
--- /dev/null
+++ b/doc/html/classCetiRobot__inherit__graph.md5
@@ -0,0 +1 @@
+9948057eed634d9120cbdee4d4bfdfe0
\ No newline at end of file
diff --git a/doc/html/classCetiRobot__inherit__graph.png b/doc/html/classCetiRobot__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..4da8f2d26b37e1cfb1227a4bafa1b8c67ed8e013
Binary files /dev/null and b/doc/html/classCetiRobot__inherit__graph.png differ
diff --git a/doc/html/classCeti__robot-members.html b/doc/html/classCeti__robot-members.html
deleted file mode 100644
index 90dc4a828b74a7445369513026720b23402c68eb..0000000000000000000000000000000000000000
--- a/doc/html/classCeti__robot-members.html
+++ /dev/null
@@ -1,76 +0,0 @@
-<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
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+++ /dev/null
@@ -1,930 +0,0 @@
-<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>
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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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- initMenu('',false,false,'search.php','Search');
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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="#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>
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-<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>
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-<div class="memitem">
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- <td class="mlabels-left">
- <table class="memname">
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- <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">
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-<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>
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-<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>
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- <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>
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-<p>Implements <a class="el" href="classAbstract__robot.html#a52c63e180b0a31cd9b97b824eb1b5c22">Abstract_robot</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a128b5891d5519855c387dd0fd3b04384">◆ </a></span>check_single_object_collision()</h2>
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- <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>
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-<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>
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-<p>Implements <a class="el" href="classAbstract__robot.html#aeb08dc2fa1ecdad08544fb77ff60d78e">Abstract_robot</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa12e1de6f139604143bb19b34abbfaeb">◆ </a></span>coll_markers()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<p>Get collision markers. </p>
-<dl class="section return"><dt>Returns</dt><dd>marker CollisionObject which will be add to marker vector </dd></dl>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ace21ef0128109d49de07e1fe675b595d">◆ </a></span>generate_access_fields()</h2>
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- <td class="memname">void Ceti_robot::generate_access_fields </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<p>Generate access fields as surrounding poses for possible robots. </p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#af0e5f7417926e50ccb607c6612170687">◆ </a></span>in_collision()</h2>
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-<div class="memitem">
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- <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>
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-<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>
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-<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>
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-<a id="ac5776cb1039f39138f46c3a13799ee3b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ac5776cb1039f39138f46c3a13799ee3b">◆ </a></span>name()</h2>
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- <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>
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-</div><div class="memdoc">
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-<p>Implements <a class="el" href="classAbstract__robot.html#a1a5d8cd75f0aa634022f09d88066d313">Abstract_robot</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a50602f1990429a31148ec90369c8b390">◆ </a></span>notify()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </tr>
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- </td>
- <td class="mlabels-right">
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-<p>Observer pattern. </p>
-<p>When changing pose, any observer calculates its new position in world frame </p>
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-<p>Implements <a class="el" href="classAbstract__robot.html#acfcaa13dd3824464426f0557ec2e360d">Abstract_robot</a>.</p>
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-<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>
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-<a id="afeb11427714da34b8203de2d094dd536"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#afeb11427714da34b8203de2d094dd536">◆ </a></span>observer_mask()</h2>
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- <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>
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-<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>
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-<a id="a948403a8fba6220b86d2cda6cb74a326"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a948403a8fba6220b86d2cda6cb74a326">◆ </a></span>observers()</h2>
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- <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>
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-<p>Get observers. </p>
-<dl class="section return"><dt>Returns</dt><dd>observer vector </dd></dl>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac28cfaf3ea80e2d3271c0c8ca634dc77">◆ </a></span>register_observers()</h2>
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- <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>
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-<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>
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-<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>
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-<a id="a9db994a08373f0c75bd69226855f2b54"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a9db994a08373f0c75bd69226855f2b54">◆ </a></span>reset()</h2>
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- <td class="memname">void Ceti_robot::reset </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
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-<p>Resset all robot properties. </p>
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-<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>
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-<a id="a31ba978529d6f3039ff7223f90d864ec"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a31ba978529d6f3039ff7223f90d864ec">◆ </a></span>robot_root_bounds()</h2>
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- <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">
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-<p>Implements <a class="el" href="classAbstract__robot.html#a62093041e9154e06ed573a42a76cc778">Abstract_robot</a>.</p>
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-<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>
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- <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>
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-<p>Implements <a class="el" href="classAbstract__robot.html#af7a230da2f4551f707557a4f5fa447ac">Abstract_robot</a>.</p>
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-<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>
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- <td>(</td>
- <td class="paramtype">int </td>
- <td class="paramname"><em>i</em></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<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>
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- <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>
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-<p>Implements <a class="el" href="classAbstract__robot.html#a13949665d4f8ac53aadc357883b301da">Abstract_robot</a>.</p>
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-<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>
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- <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>
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-<p>Implements <a class="el" href="classAbstract__robot.html#ae3e4f92f97f4a55fe9cb7196024fe30a">Abstract_robot</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a8bfe48e6325263ae5607a5621dedebe9">◆ </a></span>workload_checker()</h2>
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- <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>
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-<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
deleted file mode 100644
index 925af9bbd09798aca78a6587b39023df41e52b6d..0000000000000000000000000000000000000000
--- a/doc/html/classCeti__robot__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<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
deleted file mode 100644
index 176849c67be118c62d0bd7e7dc017a957e7d5485..0000000000000000000000000000000000000000
--- a/doc/html/classCeti__robot__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 100644
index 3203cd0cf5b570275321bff40644824fc913a292..0000000000000000000000000000000000000000
Binary files a/doc/html/classCeti__robot__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classCollision__helper.html b/doc/html/classCollision__helper.html
deleted file mode 100644
index 10ea5d2c7a96ca03a153c7e5c8c28159a1b20659..0000000000000000000000000000000000000000
--- a/doc/html/classCollision__helper.html
+++ /dev/null
@@ -1,146 +0,0 @@
-<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
deleted file mode 100644
index 9579a4f74925a47aa220eca4462754c3c8a76358..0000000000000000000000000000000000000000
--- a/doc/html/classCollision__helper__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<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
deleted file mode 100644
index bb1febd21586c8d0b82a6c95a0dd6ee33c291488..0000000000000000000000000000000000000000
--- a/doc/html/classCollision__helper__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 100644
index 58d97603ec20bc06683f77a826219cf507e85ecb..0000000000000000000000000000000000000000
Binary files a/doc/html/classCollision__helper__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classCuboidReader-members.html b/doc/html/classCuboidReader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..a13e41b57819e6fed00e2f786208fa07deb88941
--- /dev/null
+++ b/doc/html/classCuboidReader-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">CuboidReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classCuboidReader.html">CuboidReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a></td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a></td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">cuboidBin</a>()</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">cuboidObstacle</a>()</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a>() override</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">setCuboidBinData</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">setCuboidObstacleData</a>(std::vector< Cuboid > &cuboid_data)</td><td class="entry"><a class="el" href="classCuboidReader.html">CuboidReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classCuboid__reader.html b/doc/html/classCuboidReader.html
similarity index 52%
rename from doc/html/classCuboid__reader.html
rename to doc/html/classCuboidReader.html
index 0ccaf2d1b736f2e5552060896a982eaa625f6b0e..2c8338cca831a6aee0b9d44e0d80d068d23f9fbd 100644
--- a/doc/html/classCuboid__reader.html
+++ b/doc/html/classCuboidReader.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Cuboid_reader Class Reference</title>
+<title>multi_cell_builder: CuboidReader 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>
@@ -20,66 +20,66 @@ $(function() {
<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>
+<a href="classCuboidReader-members.html">List of all members</a> </div>
<div class="headertitle">
-<div class="title">Cuboid_reader Class Reference</div> </div>
+<div class="title">CuboidReader Class Reference</div> </div>
</div><!--header-->
<div class="contents">
<p>Cuboid reader.
- <a href="classCuboid__reader.html#details">More...</a></p>
+ <a href="classCuboidReader.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>
+Inheritance diagram for CuboidReader:</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"/>
+<div class="center"><img src="classCuboidReader__inherit__graph.png" border="0" usemap="#CuboidReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="CuboidReader_inherit__map" id="CuboidReader_inherit__map">
+<area shape="rect" title="Cuboid reader." alt="" coords="31,80,144,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
</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>
+<tr class="memitem:a2bc121e539f485a3aab88b4b57b9de9b"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">cuboidBin</a> ()</td></tr>
+<tr class="memdesc:a2bc121e539f485a3aab88b4b57b9de9b"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid box. <a href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">More...</a><br /></td></tr>
+<tr class="separator:a2bc121e539f485a3aab88b4b57b9de9b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a986635198367e1d869e1dcaccb021827"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">cuboidObstacle</a> ()</td></tr>
+<tr class="memdesc:a986635198367e1d869e1dcaccb021827"><td class="mdescLeft"> </td><td class="mdescRight">Get Cuboid obstacle. <a href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">More...</a><br /></td></tr>
+<tr class="separator:a986635198367e1d869e1dcaccb021827"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2a0fc34bf937185bdbda05e008ada8e1"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a2a0fc34bf937185bdbda05e008ada8e1"><td class="mdescLeft"> </td><td class="mdescRight">Cuboid reader constructor. <a href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">More...</a><br /></td></tr>
+<tr class="separator:a2a0fc34bf937185bdbda05e008ada8e1"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0a07f5fb34f7867d3bd861451ff3f624"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a> () override</td></tr>
+<tr class="memdesc:a0a07f5fb34f7867d3bd861451ff3f624"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">More...</a><br /></td></tr>
+<tr class="separator:a0a07f5fb34f7867d3bd861451ff3f624"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af590521a56d12391fbf96411cd8f6926"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">setCuboidBinData</a> (std::vector< Cuboid > &cuboid_data)</td></tr>
+<tr class="memdesc:af590521a56d12391fbf96411cd8f6926"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid box. <a href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">More...</a><br /></td></tr>
+<tr class="separator:af590521a56d12391fbf96411cd8f6926"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac60f1dcb39c0f0e176a5835c5ae97dc7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">setCuboidObstacleData</a> (std::vector< Cuboid > &cuboid_data)</td></tr>
+<tr class="memdesc:ac60f1dcb39c0f0e176a5835c5ae97dc7"><td class="mdescLeft"> </td><td class="mdescRight">Set Cuboid obstacle. <a href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">More...</a><br /></td></tr>
+<tr class="separator:ac60f1dcb39c0f0e176a5835c5ae97dc7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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>
+<tr class="memitem:a3e8f4d8682d14f21e46d78a2e3f4f0bf"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a></td></tr>
+<tr class="memdesc:a3e8f4d8682d14f21e46d78a2e3f4f0bf"><td class="mdescLeft"> </td><td class="mdescRight">As box defined object. <a href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">More...</a><br /></td></tr>
+<tr class="separator:a3e8f4d8682d14f21e46d78a2e3f4f0bf"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a91f3e86106a59eb97916cb72337e1173"><td class="memItemLeft" align="right" valign="top">std::vector< Cuboid > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a></td></tr>
+<tr class="memdesc:a91f3e86106a59eb97916cb72337e1173"><td class="mdescLeft"> </td><td class="mdescRight">As obstacle defined objects. <a href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">More...</a><br /></td></tr>
+<tr class="separator:a91f3e86106a59eb97916cb72337e1173"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><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>
@@ -87,8 +87,8 @@ Protected Attributes</h2></td></tr>
<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>
+<a id="a2a0fc34bf937185bdbda05e008ada8e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a0fc34bf937185bdbda05e008ada8e1">◆ </a></span>CuboidReader()</h2>
<div class="memitem">
<div class="memproto">
@@ -97,7 +97,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">Cuboid_reader::Cuboid_reader </td>
+ <td class="memname">CuboidReader::CuboidReader </td>
<td>(</td>
<td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
<td class="paramname"><em>d</em></td><td>)</td>
@@ -112,7 +112,7 @@ Protected Attributes</h2></td></tr>
</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>
+<p>Calls pure virtual <a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624" 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>
@@ -124,8 +124,8 @@ Protected Attributes</h2></td></tr>
</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>
+<a id="a2bc121e539f485a3aab88b4b57b9de9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2bc121e539f485a3aab88b4b57b9de9b">◆ </a></span>cuboidBin()</h2>
<div class="memitem">
<div class="memproto">
@@ -134,7 +134,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">std::vector<Cuboid> Cuboid_reader::cuboid_bin </td>
+ <td class="memname">std::vector<Cuboid> CuboidReader::cuboidBin </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -154,8 +154,8 @@ Protected Attributes</h2></td></tr>
</div>
</div>
-<a id="a499edb06157aac6287cdf683b0316a8b"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a499edb06157aac6287cdf683b0316a8b">◆ </a></span>cuboid_obstacle()</h2>
+<a id="a986635198367e1d869e1dcaccb021827"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a986635198367e1d869e1dcaccb021827">◆ </a></span>cuboidObstacle()</h2>
<div class="memitem">
<div class="memproto">
@@ -164,7 +164,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">std::vector<Cuboid> Cuboid_reader::cuboid_obstacle </td>
+ <td class="memname">std::vector<Cuboid> CuboidReader::cuboidObstacle </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -184,8 +184,8 @@ Protected Attributes</h2></td></tr>
</div>
</div>
-<a id="aa9fb23e8916e3288d8172725b8cd1842"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aa9fb23e8916e3288d8172725b8cd1842">◆ </a></span>read()</h2>
+<a id="a0a07f5fb34f7867d3bd861451ff3f624"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a07f5fb34f7867d3bd861451ff3f624">◆ </a></span>read()</h2>
<div class="memitem">
<div class="memproto">
@@ -194,7 +194,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Cuboid_reader::read </td>
+ <td class="memname">void CuboidReader::read </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -209,14 +209,14 @@ Protected Attributes</h2></td></tr>
<p>read implementatin </p>
-<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+<p>Implements <a class="el" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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>
+<a id="af590521a56d12391fbf96411cd8f6926"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af590521a56d12391fbf96411cd8f6926">◆ </a></span>setCuboidBinData()</h2>
<div class="memitem">
<div class="memproto">
@@ -225,7 +225,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Cuboid_reader::set_cuboid_bin_data </td>
+ <td class="memname">void CuboidReader::setCuboidBinData </td>
<td>(</td>
<td class="paramtype">std::vector< Cuboid > & </td>
<td class="paramname"><em>cuboid_data</em></td><td>)</td>
@@ -251,8 +251,8 @@ Protected Attributes</h2></td></tr>
</div>
</div>
-<a id="ace0ace01df2eeb0607e8ad9d2764200d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ace0ace01df2eeb0607e8ad9d2764200d">◆ </a></span>set_cuboid_obstacle_data()</h2>
+<a id="ac60f1dcb39c0f0e176a5835c5ae97dc7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac60f1dcb39c0f0e176a5835c5ae97dc7">◆ </a></span>setCuboidObstacleData()</h2>
<div class="memitem">
<div class="memproto">
@@ -261,7 +261,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Cuboid_reader::set_cuboid_obstacle_data </td>
+ <td class="memname">void CuboidReader::setCuboidObstacleData </td>
<td>(</td>
<td class="paramtype">std::vector< Cuboid > & </td>
<td class="paramname"><em>cuboid_data</em></td><td>)</td>
@@ -288,8 +288,8 @@ Protected Attributes</h2></td></tr>
</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>
+<a id="a3e8f4d8682d14f21e46d78a2e3f4f0bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e8f4d8682d14f21e46d78a2e3f4f0bf">◆ </a></span>cuboid_box_</h2>
<div class="memitem">
<div class="memproto">
@@ -298,7 +298,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">std::vector<Cuboid> Cuboid_reader::cuboid_box_</td>
+ <td class="memname">std::vector<Cuboid> CuboidReader::cuboid_box_</td>
</tr>
</table>
</td>
@@ -314,8 +314,8 @@ Protected Attributes</h2></td></tr>
</div>
</div>
-<a id="af8a5a286ea79d157c294d0f1efc9ce8a"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af8a5a286ea79d157c294d0f1efc9ce8a">◆ </a></span>cuboid_obstacle_</h2>
+<a id="a91f3e86106a59eb97916cb72337e1173"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91f3e86106a59eb97916cb72337e1173">◆ </a></span>cuboid_obstacle_</h2>
<div class="memitem">
<div class="memproto">
@@ -324,7 +324,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">std::vector<Cuboid> Cuboid_reader::cuboid_obstacle_</td>
+ <td class="memname">std::vector<Cuboid> CuboidReader::cuboid_obstacle_</td>
</tr>
</table>
</td>
@@ -350,7 +350,7 @@ Protected Attributes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classCuboidReader__inherit__graph.map b/doc/html/classCuboidReader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..91e9fe02f1471381451d352f9c656f16517f8096
--- /dev/null
+++ b/doc/html/classCuboidReader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="CuboidReader" name="CuboidReader">
+<area shape="rect" id="node1" title="Cuboid reader." alt="" coords="31,80,144,107"/>
+<area shape="rect" id="node2" href="$classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</map>
diff --git a/doc/html/classCuboidReader__inherit__graph.md5 b/doc/html/classCuboidReader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..7a0f948f454968c02a3f0b8cc7b4cdb717a46363
--- /dev/null
+++ b/doc/html/classCuboidReader__inherit__graph.md5
@@ -0,0 +1 @@
+87eb74904018ace662315fce3ff76cbf
\ No newline at end of file
diff --git a/doc/html/classCuboidReader__inherit__graph.png b/doc/html/classCuboidReader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b3cdb7bb67d297c6b4d45b70ecacdb82d8a8dc9
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diff --git a/doc/html/classCuboid__reader-members.html b/doc/html/classCuboid__reader-members.html
deleted file mode 100644
index 27ccacda09cd96009b39d12cd7784efd15873880..0000000000000000000000000000000000000000
--- a/doc/html/classCuboid__reader-members.html
+++ /dev/null
@@ -1,47 +0,0 @@
-<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__inherit__graph.map b/doc/html/classCuboid__reader__inherit__graph.map
deleted file mode 100644
index 57c0b3d9c2df855b2d0cb662d15ff5dc5620bc65..0000000000000000000000000000000000000000
--- a/doc/html/classCuboid__reader__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<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
deleted file mode 100644
index deb3cc55f572699b36c1364328476953746c787c..0000000000000000000000000000000000000000
--- a/doc/html/classCuboid__reader__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 100644
index 066198c1a1abdfc3244e3964b03cc4a2f2341353..0000000000000000000000000000000000000000
Binary files a/doc/html/classCuboid__reader__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classExecution-members.html b/doc/html/classExecution-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..50304040acbc6d266b03d5b0b11c9fa2b01a2996
--- /dev/null
+++ b/doc/html/classExecution-members.html
@@ -0,0 +1,46 @@
+<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">Execution Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classExecution.html">Execution</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a></td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution</a>(const std::string &name, const BT::NodeConfiguration &config)</td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a></td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">init</a>(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a></td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a></td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">onHalted</a>() override</td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">onRunning</a>() override</td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">onStart</a>() override</td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">providedPorts</a>()</td><td class="entry"><a class="el" href="classExecution.html">Execution</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classExecution.html b/doc/html/classExecution.html
new file mode 100644
index 0000000000000000000000000000000000000000..20b9de3e7e067da7c7d308aefbceee51103d1601
--- /dev/null
+++ b/doc/html/classExecution.html
@@ -0,0 +1,409 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Execution 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="#pri-attribs">Private Attributes</a> |
+<a href="classExecution-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Execution Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode.
+ <a href="classExecution.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="execution_8h_source.html">execution.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Execution:</div>
+<div class="dyncontent">
+<div class="center"><img src="classExecution__inherit__graph.png" border="0" usemap="#Execution_inherit__map" alt="Inheritance graph"/></div>
+<map name="Execution_inherit__map" id="Execution_inherit__map">
+<area shape="rect" title="Execution node as StatefulActionNode." alt="" coords="48,80,135,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,177,32"/>
+</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:aec2ad8cedc29fdf939ecb71ea778b94d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution</a> (const std::string &name, const BT::NodeConfiguration &config)</td></tr>
+<tr class="memdesc:aec2ad8cedc29fdf939ecb71ea778b94d"><td class="mdescLeft"> </td><td class="mdescRight">constructor <a href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">More...</a><br /></td></tr>
+<tr class="separator:aec2ad8cedc29fdf939ecb71ea778b94d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a83220fdadaf176477154ccd44f1cf0b5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">init</a> (std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *<a class="el" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>, <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> *<a class="el" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &<a class="el" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>)</td></tr>
+<tr class="memdesc:a83220fdadaf176477154ccd44f1cf0b5"><td class="mdescLeft"> </td><td class="mdescRight">Initialize Node. <a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">More...</a><br /></td></tr>
+<tr class="separator:a83220fdadaf176477154ccd44f1cf0b5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a98656e2c9600aff97c412db421bc85d4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">onHalted</a> () override</td></tr>
+<tr class="memdesc:a98656e2c9600aff97c412db421bc85d4"><td class="mdescLeft"> </td><td class="mdescRight">Function called on halt. <a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">More...</a><br /></td></tr>
+<tr class="separator:a98656e2c9600aff97c412db421bc85d4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9750aafd1107ea408aba7d31412b7b8b"><td class="memItemLeft" align="right" valign="top">BT::NodeStatus </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">onRunning</a> () override</td></tr>
+<tr class="memdesc:a9750aafd1107ea408aba7d31412b7b8b"><td class="mdescLeft"> </td><td class="mdescRight">Function called while node is in running state. <a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">More...</a><br /></td></tr>
+<tr class="separator:a9750aafd1107ea408aba7d31412b7b8b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9997472fbbaa6d0d3f9e6405148216aa"><td class="memItemLeft" align="right" valign="top">BT::NodeStatus </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">onStart</a> () override</td></tr>
+<tr class="memdesc:a9997472fbbaa6d0d3f9e6405148216aa"><td class="mdescLeft"> </td><td class="mdescRight">Function called at first execution. <a href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">More...</a><br /></td></tr>
+<tr class="separator:a9997472fbbaa6d0d3f9e6405148216aa"><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:a2b7800cb7a292975c3df5e443710fe42"><td class="memItemLeft" align="right" valign="top">static BT::PortsList </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">providedPorts</a> ()</td></tr>
+<tr class="memdesc:a2b7800cb7a292975c3df5e443710fe42"><td class="mdescLeft"> </td><td class="mdescRight">Required port interface. <a href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">More...</a><br /></td></tr>
+<tr class="separator:a2b7800cb7a292975c3df5e443710fe42"><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:aa37ec3ca2032ee01f0f91670063c287a"><td class="memItemLeft" align="right" valign="top">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a></td></tr>
+<tr class="memdesc:aa37ec3ca2032ee01f0f91670063c287a"><td class="mdescLeft"> </td><td class="mdescRight">ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene. <a href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">More...</a><br /></td></tr>
+<tr class="separator:aa37ec3ca2032ee01f0f91670063c287a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:adf786293daccae345032d30434e0b38a"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a></td></tr>
+<tr class="memdesc:adf786293daccae345032d30434e0b38a"><td class="mdescLeft"> </td><td class="mdescRight">trajetory and planningscene mapped to robot <a href="classExecution.html#adf786293daccae345032d30434e0b38a">More...</a><br /></td></tr>
+<tr class="separator:adf786293daccae345032d30434e0b38a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac66c28006ba68631a6cdcce5f6048eee"><td class="memItemLeft" align="right" valign="top">std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a></td></tr>
+<tr class="memdesc:ac66c28006ba68631a6cdcce5f6048eee"><td class="mdescLeft"> </td><td class="mdescRight">next iteration of ExecuteTaskSolutionGoal <a href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">More...</a><br /></td></tr>
+<tr class="separator:ac66c28006ba68631a6cdcce5f6048eee"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3e4eb097f9ed40ed2f27cb2199cb205f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a></td></tr>
+<tr class="memdesc:a3e4eb097f9ed40ed2f27cb2199cb205f"><td class="mdescLeft"> </td><td class="mdescRight">Reference to the robot. <a href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">More...</a><br /></td></tr>
+<tr class="separator:a3e4eb097f9ed40ed2f27cb2199cb205f"><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="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode. </p>
+<p><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node that maintains its state (success, failure or execution). It implements robot task execution as a model in which robots can be treated as threads. It represents a container of successive tasks that a robot has to execute and stores a trajectory and a planning scene per task and robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8h_source.html#l00023">23</a> of file <a class="el" href="execution_8h_source.html">execution.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="aec2ad8cedc29fdf939ecb71ea778b94d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec2ad8cedc29fdf939ecb71ea778b94d">◆ </a></span>Execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Execution::Execution </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const BT::NodeConfiguration & </td>
+ <td class="paramname"><em>config</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>constructor </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">name</td><td>Name displayed in Groot </td></tr>
+ <tr><td class="paramname">config</td><td>Node configuration </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00003">3</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a83220fdadaf176477154ccd44f1cf0b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a83220fdadaf176477154ccd44f1cf0b5">◆ </a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Execution::init </td>
+ <td>(</td>
+ <td class="paramtype">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> * </td>
+ <td class="paramname"><em>executions_</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> * </td>
+ <td class="paramname"><em>mr_reference_</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal & </td>
+ <td class="paramname"><em>ets_</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Initialize Node. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">executions_</td><td></td></tr>
+ <tr><td class="paramname">mr_reference_</td><td></td></tr>
+ <tr><td class="paramname">ets_</td><td></td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00029">29</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a98656e2c9600aff97c412db421bc85d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98656e2c9600aff97c412db421bc85d4">◆ </a></span>onHalted()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Execution::onHalted </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> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Function called on halt. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00027">27</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a9750aafd1107ea408aba7d31412b7b8b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9750aafd1107ea408aba7d31412b7b8b">◆ </a></span>onRunning()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">BT::NodeStatus Execution::onRunning </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> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Function called while node is in running state. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00017">17</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a9997472fbbaa6d0d3f9e6405148216aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9997472fbbaa6d0d3f9e6405148216aa">◆ </a></span>onStart()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">BT::NodeStatus Execution::onStart </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> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Function called at first execution. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8cpp_source.html#l00006">6</a> of file <a class="el" href="execution_8cpp_source.html">execution.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a2b7800cb7a292975c3df5e443710fe42"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b7800cb7a292975c3df5e443710fe42">◆ </a></span>providedPorts()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">static BT::PortsList Execution::providedPorts </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">static</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Required port interface. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8h_source.html#l00049">49</a> of file <a class="el" href="execution_8h_source.html">execution.h</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aa37ec3ca2032ee01f0f91670063c287a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa37ec3ca2032ee01f0f91670063c287a">◆ </a></span>ets_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal Execution::ets_</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>ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8h_source.html#l00025">25</a> of file <a class="el" href="execution_8h_source.html">execution.h</a>.</p>
+
+</div>
+</div>
+<a id="adf786293daccae345032d30434e0b38a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf786293daccae345032d30434e0b38a">◆ </a></span>executions_</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::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> >* Execution::executions_</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>trajetory and planningscene mapped to robot </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8h_source.html#l00027">27</a> of file <a class="el" href="execution_8h_source.html">execution.h</a>.</p>
+
+</div>
+</div>
+<a id="ac66c28006ba68631a6cdcce5f6048eee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac66c28006ba68631a6cdcce5f6048eee">◆ </a></span>it_</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_task_constructor_msgs::SubTrajectory>::iterator Execution::it_</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>next iteration of ExecuteTaskSolutionGoal </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8h_source.html#l00028">28</a> of file <a class="el" href="execution_8h_source.html">execution.h</a>.</p>
+
+</div>
+</div>
+<a id="a3e4eb097f9ed40ed2f27cb2199cb205f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e4eb097f9ed40ed2f27cb2199cb205f">◆ </a></span>mr_reference_</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="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* Execution::mr_reference_</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>Reference to the robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="execution_8h_source.html#l00026">26</a> of file <a class="el" href="execution_8h_source.html">execution.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="execution_8h_source.html">execution.h</a></li>
+<li><a class="el" href="execution_8cpp_source.html">execution.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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classExecution__inherit__graph.map b/doc/html/classExecution__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..1c892ed0fe0e95136cf78d2d1d7dc70cc4663422
--- /dev/null
+++ b/doc/html/classExecution__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="Execution" name="Execution">
+<area shape="rect" id="node1" title="Execution node as StatefulActionNode." alt="" coords="48,80,135,107"/>
+<area shape="rect" id="node2" title=" " alt="" coords="5,5,177,32"/>
+</map>
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diff --git a/doc/html/classField-members.html b/doc/html/classField-members.html
deleted file mode 100644
index c02d4999ccfe35aec6b430245836d348235e9afc..0000000000000000000000000000000000000000
--- a/doc/html/classField-members.html
+++ /dev/null
@@ -1,61 +0,0 @@
-<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
deleted file mode 100644
index 5307f64e45c7893d295cbc377630edec1b7609b2..0000000000000000000000000000000000000000
--- a/doc/html/classField.html
+++ /dev/null
@@ -1,395 +0,0 @@
-<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
deleted file mode 100644
index 13edd590aad46b1eb3d673d664e718db4087a9d2..0000000000000000000000000000000000000000
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--- a/doc/html/classField__inherit__graph.md5
+++ /dev/null
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diff --git a/doc/html/classField__inherit__graph.png b/doc/html/classField__inherit__graph.png
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diff --git a/doc/html/classField__rviz__decorator-members.html b/doc/html/classField__rviz__decorator-members.html
deleted file mode 100644
index 707445d76852430f91c425cc3ab5c55f7a16ddec..0000000000000000000000000000000000000000
--- a/doc/html/classField__rviz__decorator-members.html
+++ /dev/null
@@ -1,70 +0,0 @@
-<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>
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- <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
deleted file mode 100644
index 67bf0fa6a20e9fadc2e76fc14f2653254b72eb67..0000000000000000000000000000000000000000
--- a/doc/html/classField__rviz__decorator.html
+++ /dev/null
@@ -1,351 +0,0 @@
-<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>
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diff --git a/doc/html/classJobReader-members.html b/doc/html/classJobReader-members.html
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--- /dev/null
+++ b/doc/html/classJobReader-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">JobReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classJobReader.html">JobReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">job_data_</a></td><td class="entry"><a class="el" href="classJobReader.html">JobReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">JobReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classJobReader.html">JobReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">read</a>() override</td><td class="entry"><a class="el" href="classJobReader.html">JobReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classJobReader.html#a56accc7df48201c78715c22195e4965e">robotData</a>()</td><td class="entry"><a class="el" href="classJobReader.html">JobReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">setJobData</a>(boost::circular_buffer< std::pair< std::string, job_data >> &robot_data)</td><td class="entry"><a class="el" href="classJobReader.html">JobReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classJobReader.html b/doc/html/classJobReader.html
new file mode 100644
index 0000000000000000000000000000000000000000..a455d3a5fc4ccf8368c6ada8f7c9975bbb9523de
--- /dev/null
+++ b/doc/html/classJobReader.html
@@ -0,0 +1,258 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: JobReader 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="classJobReader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">JobReader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Job reader.
+ <a href="classJobReader.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 JobReader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classJobReader__inherit__graph.png" border="0" usemap="#JobReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="JobReader_inherit__map" id="JobReader_inherit__map">
+<area shape="rect" title="Job reader." alt="" coords="43,80,131,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</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:ac8e43cb1c16a0580b63c75acf1501b57"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">JobReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:ac8e43cb1c16a0580b63c75acf1501b57"><td class="mdescLeft"> </td><td class="mdescRight">Job reader constructor. <a href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">More...</a><br /></td></tr>
+<tr class="separator:ac8e43cb1c16a0580b63c75acf1501b57"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a63ae7854b0518132d5f1016bf3da38ce"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">read</a> () override</td></tr>
+<tr class="memdesc:a63ae7854b0518132d5f1016bf3da38ce"><td class="mdescLeft"> </td><td class="mdescRight">read implementation <a href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">More...</a><br /></td></tr>
+<tr class="separator:a63ae7854b0518132d5f1016bf3da38ce"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a56accc7df48201c78715c22195e4965e"><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="classJobReader.html#a56accc7df48201c78715c22195e4965e">robotData</a> ()</td></tr>
+<tr class="memdesc:a56accc7df48201c78715c22195e4965e"><td class="mdescLeft"> </td><td class="mdescRight">Get Job_data. <a href="classJobReader.html#a56accc7df48201c78715c22195e4965e">More...</a><br /></td></tr>
+<tr class="separator:a56accc7df48201c78715c22195e4965e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad98d5492c0761be374fba91674a01e56"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">setJobData</a> (boost::circular_buffer< std::pair< std::string, <a class="el" href="structjob__data.html">job_data</a> >> &robot_data)</td></tr>
+<tr class="memdesc:ad98d5492c0761be374fba91674a01e56"><td class="mdescLeft"> </td><td class="mdescRight">Set Job_data. <a href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">More...</a><br /></td></tr>
+<tr class="separator:ad98d5492c0761be374fba91674a01e56"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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:af30f87805758a9fc687bbeac03e8df59"><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="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">job_data_</a></td></tr>
+<tr class="memdesc:af30f87805758a9fc687bbeac03e8df59"><td class="mdescLeft"> </td><td class="mdescRight">FIFO job information. <a href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">More...</a><br /></td></tr>
+<tr class="separator:af30f87805758a9fc687bbeac03e8df59"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><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="ac8e43cb1c16a0580b63c75acf1501b57"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8e43cb1c16a0580b63c75acf1501b57">◆ </a></span>JobReader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">JobReader::JobReader </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="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce" 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="a63ae7854b0518132d5f1016bf3da38ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63ae7854b0518132d5f1016bf3da38ce">◆ </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 JobReader::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="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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="a56accc7df48201c78715c22195e4965e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56accc7df48201c78715c22195e4965e">◆ </a></span>robotData()</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>> >& JobReader::robotData </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="ad98d5492c0761be374fba91674a01e56"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad98d5492c0761be374fba91674a01e56">◆ </a></span>setJobData()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void JobReader::setJobData </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="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce" 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="af30f87805758a9fc687bbeac03e8df59"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af30f87805758a9fc687bbeac03e8df59">◆ </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>> > JobReader::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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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new file mode 100644
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+++ b/doc/html/classJobReader__inherit__graph.map
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new file mode 100644
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diff --git a/doc/html/classJob__reader-members.html b/doc/html/classJob__reader-members.html
deleted file mode 100644
index bd922f538488ec2694ffa2a90b954abe7a05eb41..0000000000000000000000000000000000000000
--- a/doc/html/classJob__reader-members.html
+++ /dev/null
@@ -1,44 +0,0 @@
-<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">
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-});
-/* @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
deleted file mode 100644
index 7b468dad9958445867f71d8dd8526469b2e80513..0000000000000000000000000000000000000000
--- a/doc/html/classJob__reader.html
+++ /dev/null
@@ -1,258 +0,0 @@
-<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 -->
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-<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
deleted file mode 100644
index 7302b0f26a1817f1c6e8ebfd1cb84344da2002e4..0000000000000000000000000000000000000000
--- a/doc/html/classJob__reader__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<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="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
-</map>
diff --git a/doc/html/classJob__reader__inherit__graph.md5 b/doc/html/classJob__reader__inherit__graph.md5
deleted file mode 100644
index 9d023e33424bf48ca615e56dd7ec716b43dbefef..0000000000000000000000000000000000000000
--- a/doc/html/classJob__reader__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-ee77437e3d49947a07cde62218d07ad8
\ No newline at end of file
diff --git a/doc/html/classJob__reader__inherit__graph.png b/doc/html/classJob__reader__inherit__graph.png
deleted file mode 100644
index cc91cbb5cdba2ce1a47715e9c4651a4a71b7e878..0000000000000000000000000000000000000000
Binary files a/doc/html/classJob__reader__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classLogDecorator-members.html b/doc/html/classLogDecorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..770e41a945dddaf6a3e4ef3b806fb5e18dbb9fa3
--- /dev/null
+++ b/doc/html/classLogDecorator-members.html
@@ -0,0 +1,58 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">LogDecorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classLogDecorator.html">LogDecorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</a>(std::unique_ptr< AbstractRobotElement > next)</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">inputFilter</a>() override</td><td class="entry"><a class="el" href="classLogDecorator.html">LogDecorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator</a>(std::unique_ptr< AbstractRobotElement > next)</td><td class="entry"><a class="el" href="classLogDecorator.html">LogDecorator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">name</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a></td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">nh_</a></td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">outputFilter</a>() override</td><td class="entry"><a class="el" href="classLogDecorator.html">LogDecorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">size</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classLogDecorator.html">LogDecorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classLogDecorator.html b/doc/html/classLogDecorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..4aeb243d788c50cf84b623c1c1a154d267a6c920
--- /dev/null
+++ b/doc/html/classLogDecorator.html
@@ -0,0 +1,220 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: LogDecorator 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="classLogDecorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">LogDecorator 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 LogDecorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classLogDecorator__inherit__graph.png" border="0" usemap="#LogDecorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="LogDecorator_inherit__map" id="LogDecorator_inherit__map">
+<area shape="rect" title=" " alt="" coords="67,155,176,181"/>
+<area shape="rect" href="classAbstractRobotElementDecorator.html" title=" " alt="" coords="5,80,237,107"/>
+<area shape="rect" href="classAbstractRobotElement.html" title=" " alt="" coords="37,5,205,32"/>
+</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:acac279301b1c1328a7d3a3cedcbd5d49"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">inputFilter</a> () override</td></tr>
+<tr class="separator:acac279301b1c1328a7d3a3cedcbd5d49"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a78fe39a2d7d767a5927e90ea4424e0a6"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > <a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>)</td></tr>
+<tr class="separator:a78fe39a2d7d767a5927e90ea4424e0a6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a25dfa5477bae14fd7b25c3c145835e24"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">outputFilter</a> () override</td></tr>
+<tr class="separator:a25dfa5477bae14fd7b25c3c145835e24"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac07d63e9c572dcea9970bac9c31a79e3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:ac07d63e9c572dcea9970bac9c31a79e3"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotElementDecorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotElementDecorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td></tr>
+<tr class="memitem:a3d5875ff7547ee6f7f54336241e5d6b0 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > <a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>)</td></tr>
+<tr class="separator:a3d5875ff7547ee6f7f54336241e5d6b0 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2a417f0566c07714c2abe6586a4577be inherit pub_methods_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">bounds</a> () override</td></tr>
+<tr class="separator:a2a417f0566c07714c2abe6586a4577be inherit pub_methods_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3a5461c53642115aebbc1af97dbe595 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">name</a> () override</td></tr>
+<tr class="separator:ac3a5461c53642115aebbc1af97dbe595 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac9ffe909ec3948fa64571d7a9d1c9415 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a> ()</td></tr>
+<tr class="separator:ac9ffe909ec3948fa64571d7a9d1c9415 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8bc2e63afb97283b1ac48ae1f44218e2 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">size</a> () override</td></tr>
+<tr class="separator:a8bc2e63afb97283b1ac48ae1f44218e2 inherit pub_methods_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a94e56b3357613e351fef8d9c799f4a8b inherit pub_methods_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a> () override</td></tr>
+<tr class="separator:a94e56b3357613e351fef8d9c799f4a8b inherit pub_methods_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a> (tf2::Transform tf, std::string <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</td></tr>
+<tr class="separator:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a> ()</td></tr>
+<tr class="separator:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><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_classAbstractRobotElementDecorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotElementDecorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></td></tr>
+<tr class="memitem:acf78ad24fc6586f8c22ce318e71aa133 inherit pro_attribs_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a></td></tr>
+<tr class="separator:acf78ad24fc6586f8c22ce318e71aa133 inherit pro_attribs_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aca02840da41cc102e12ef7f3828cb04c inherit pro_attribs_classAbstractRobotElementDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">nh_</a></td></tr>
+<tr class="separator:aca02840da41cc102e12ef7f3828cb04c inherit pro_attribs_classAbstractRobotElementDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td></tr>
+<tr class="separator:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td></tr>
+<tr class="separator:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td></tr>
+<tr class="separator:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td></tr>
+<tr class="separator:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td></tr>
+<tr class="separator:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><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="a78fe39a2d7d767a5927e90ea4424e0a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78fe39a2d7d767a5927e90ea4424e0a6">◆ </a></span>LogDecorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">LogDecorator::LogDecorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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="acac279301b1c1328a7d3a3cedcbd5d49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acac279301b1c1328a7d3a3cedcbd5d49">◆ </a></span>inputFilter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void LogDecorator::inputFilter </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="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">AbstractRobotElementDecorator</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="a25dfa5477bae14fd7b25c3c145835e24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25dfa5477bae14fd7b25c3c145835e24">◆ </a></span>outputFilter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void LogDecorator::outputFilter </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="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">AbstractRobotElementDecorator</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="ac07d63e9c572dcea9970bac9c31a79e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac07d63e9c572dcea9970bac9c31a79e3">◆ </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 LogDecorator::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="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classLogDecorator__inherit__graph.map b/doc/html/classLogDecorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..165a1c2bef2b1cfdd73a1676ea3a457416ab9fc5
--- /dev/null
+++ b/doc/html/classLogDecorator__inherit__graph.map
@@ -0,0 +1,5 @@
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+<area shape="rect" id="node3" href="$classAbstractRobotElement.html" title=" " alt="" coords="37,5,205,32"/>
+</map>
diff --git a/doc/html/classLogDecorator__inherit__graph.md5 b/doc/html/classLogDecorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..fac373c7f18accb0d127bc61802b6a7eba5e3f7d
--- /dev/null
+++ b/doc/html/classLogDecorator__inherit__graph.md5
@@ -0,0 +1 @@
+47c215f7d28f4fb041025e8c37f263fe
\ No newline at end of file
diff --git a/doc/html/classLogDecorator__inherit__graph.png b/doc/html/classLogDecorator__inherit__graph.png
new file mode 100644
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Binary files /dev/null and b/doc/html/classLogDecorator__inherit__graph.png differ
diff --git a/doc/html/classLog__decorator-members.html b/doc/html/classLog__decorator-members.html
deleted file mode 100644
index fa932eb1f0722435bedd8572cfa5e78becf63b7c..0000000000000000000000000000000000000000
--- a/doc/html/classLog__decorator-members.html
+++ /dev/null
@@ -1,67 +0,0 @@
-<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
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@@ -1,240 +0,0 @@
-<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">
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-<script type="text/javascript" src="jquery.js"></script>
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-<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
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index 0d797cde4cff4b405e0e28dd3e7e34eaf17dbf30..0000000000000000000000000000000000000000
--- a/doc/html/classLog__decorator__inherit__graph.map
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diff --git a/doc/html/classLog__decorator__inherit__graph.md5 b/doc/html/classLog__decorator__inherit__graph.md5
deleted file mode 100644
index 3087a9ffd46328b04dc6a6ac23d92a1f3686f299..0000000000000000000000000000000000000000
--- a/doc/html/classLog__decorator__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/doc/html/classLog__decorator__inherit__graph.png b/doc/html/classLog__decorator__inherit__graph.png
deleted file mode 100644
index 1ccd9940aefba3dee2483588b4042001ae6f8569..0000000000000000000000000000000000000000
Binary files a/doc/html/classLog__decorator__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classMapReader-members.html b/doc/html/classMapReader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..dca1929c5f77d8cb261e5ece322cd592053ad9bb
--- /dev/null
+++ b/doc/html/classMapReader-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">MapReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMapReader.html">MapReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">map_data_</a></td><td class="entry"><a class="el" href="classMapReader.html">MapReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">mapData</a>()</td><td class="entry"><a class="el" href="classMapReader.html">MapReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">MapReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classMapReader.html">MapReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">read</a>() override</td><td class="entry"><a class="el" href="classMapReader.html">MapReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">setMapData</a>(std::vector< tf2::Transform > &robot_data)</td><td class="entry"><a class="el" href="classMapReader.html">MapReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMapReader.html b/doc/html/classMapReader.html
new file mode 100644
index 0000000000000000000000000000000000000000..06d2594f96a97c7e0991364da1796e635f3b3e8e
--- /dev/null
+++ b/doc/html/classMapReader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: MapReader 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="classMapReader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">MapReader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Map reader.
+ <a href="classMapReader.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 MapReader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMapReader__inherit__graph.png" border="0" usemap="#MapReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="MapReader_inherit__map" id="MapReader_inherit__map">
+<area shape="rect" title="Map reader." alt="" coords="39,80,135,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</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:adbde1ae7737a0d4a92a015c06f7993ad"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">mapData</a> ()</td></tr>
+<tr class="memdesc:adbde1ae7737a0d4a92a015c06f7993ad"><td class="mdescLeft"> </td><td class="mdescRight">Get map_data. <a href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">More...</a><br /></td></tr>
+<tr class="separator:adbde1ae7737a0d4a92a015c06f7993ad"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a746a6a5d4782e6b374cf66012c7c6257"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">MapReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a746a6a5d4782e6b374cf66012c7c6257"><td class="mdescLeft"> </td><td class="mdescRight">Map reader. <a href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">More...</a><br /></td></tr>
+<tr class="separator:a746a6a5d4782e6b374cf66012c7c6257"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8dc380dc6b3143cc1b2030adfa67e0da"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">read</a> () override</td></tr>
+<tr class="memdesc:a8dc380dc6b3143cc1b2030adfa67e0da"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">More...</a><br /></td></tr>
+<tr class="separator:a8dc380dc6b3143cc1b2030adfa67e0da"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a21902fe2ed2af654d9870a4d06863501"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">setMapData</a> (std::vector< tf2::Transform > &robot_data)</td></tr>
+<tr class="memdesc:a21902fe2ed2af654d9870a4d06863501"><td class="mdescLeft"> </td><td class="mdescRight">Set map_data. <a href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">More...</a><br /></td></tr>
+<tr class="separator:a21902fe2ed2af654d9870a4d06863501"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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:a5e34e764186fd6f0c91cc6e03827d6ad"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">map_data_</a></td></tr>
+<tr class="memdesc:a5e34e764186fd6f0c91cc6e03827d6ad"><td class="mdescLeft"> </td><td class="mdescRight">Map transforms. <a href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">More...</a><br /></td></tr>
+<tr class="separator:a5e34e764186fd6f0c91cc6e03827d6ad"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><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="a746a6a5d4782e6b374cf66012c7c6257"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a746a6a5d4782e6b374cf66012c7c6257">◆ </a></span>MapReader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">MapReader::MapReader </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. </p>
+<p>Calls pure virtual <a class="el" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da" 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="adbde1ae7737a0d4a92a015c06f7993ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adbde1ae7737a0d4a92a015c06f7993ad">◆ </a></span>mapData()</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>& MapReader::mapData </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="a8dc380dc6b3143cc1b2030adfa67e0da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8dc380dc6b3143cc1b2030adfa67e0da">◆ </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 MapReader::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="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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="a21902fe2ed2af654d9870a4d06863501"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21902fe2ed2af654d9870a4d06863501">◆ </a></span>setMapData()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MapReader::setMapData </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="a5e34e764186fd6f0c91cc6e03827d6ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e34e764186fd6f0c91cc6e03827d6ad">◆ </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> MapReader::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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/classMapReader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="MapReader" name="MapReader">
+<area shape="rect" id="node1" title="Map reader." alt="" coords="39,80,135,107"/>
+<area shape="rect" id="node2" href="$classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</map>
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new file mode 100644
index 0000000000000000000000000000000000000000..886d37d34547138df7408b201012e782ec68b41b
--- /dev/null
+++ b/doc/html/classMapReader__inherit__graph.md5
@@ -0,0 +1 @@
+b3301da33487b561e8226774ff69b13c
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new file mode 100644
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Binary files /dev/null and b/doc/html/classMapReader__inherit__graph.png differ
diff --git a/doc/html/classMap__loader-members.html b/doc/html/classMap__loader-members.html
deleted file mode 100644
index fb39380836b84b0b7f095d810f7502278a3b6d0b..0000000000000000000000000000000000000000
--- a/doc/html/classMap__loader-members.html
+++ /dev/null
@@ -1,60 +0,0 @@
-<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
deleted file mode 100644
index 589bdb028e9a4508c389fc8647047ee4828509e0..0000000000000000000000000000000000000000
--- a/doc/html/classMap__loader.html
+++ /dev/null
@@ -1,203 +0,0 @@
-<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
deleted file mode 100644
index 55e9ca9868f2a022af3f754576ee7a75656293d7..0000000000000000000000000000000000000000
--- a/doc/html/classMap__loader__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<map id="Map_loader" name="Map_loader">
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-<area shape="rect" id="node2" href="$classAbstract__map__loader.html" title=" " alt="" coords="5,5,165,32"/>
-</map>
diff --git a/doc/html/classMap__loader__inherit__graph.md5 b/doc/html/classMap__loader__inherit__graph.md5
deleted file mode 100644
index 8a2e0c66ed96ed5c52b21117ed210c4939ea83ac..0000000000000000000000000000000000000000
--- a/doc/html/classMap__loader__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-4afa3afa033ce58acf1a15a5378413ac
\ No newline at end of file
diff --git a/doc/html/classMap__loader__inherit__graph.png b/doc/html/classMap__loader__inherit__graph.png
deleted file mode 100644
index 44f8dcb7ce4518b5c15a2379fb8290c6f1f44775..0000000000000000000000000000000000000000
Binary files a/doc/html/classMap__loader__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classMap__reader-members.html b/doc/html/classMap__reader-members.html
deleted file mode 100644
index 3d463c0ecf9a30de169ac775b8e926f632c22155..0000000000000000000000000000000000000000
--- a/doc/html/classMap__reader-members.html
+++ /dev/null
@@ -1,44 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</title>
-<link href="doxygen.css" rel="stylesheet" type="text/css">
-<link href="tabs.css" rel="stylesheet" type="text/css">
-<script type="text/javascript" src="jquery.js"></script>
-</head>
-<body onload='searchBox.OnSelectItem(0);'>
-<!-- Generated by Doxygen 1.8.17 -->
-<script type="text/javascript" src="menudata.js"></script>
-<script type="text/javascript" src="menu.js"></script>
-<script type="text/javascript">
-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
-$(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
deleted file mode 100644
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-<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>
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-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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-});
-/* @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>
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diff --git a/doc/html/classMediator-members.html b/doc/html/classMediator-members.html
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--- a/doc/html/classMediator-members.html
+++ /dev/null
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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>
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-/* @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>
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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>
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-<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>
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-<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>
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-</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>
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-<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>
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-</div>
-</div>
-<a id="a1bc333451fdba008fa7eb985dfa824ab"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1bc333451fdba008fa7eb985dfa824ab">◆ </a></span>build_wings()</h2>
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-<div class="memitem">
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- <td class="mlabels-left">
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- <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>
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-</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>
diff --git a/doc/html/classMediator__inherit__graph.map b/doc/html/classMediator__inherit__graph.map
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new file mode 100644
index 0000000000000000000000000000000000000000..e70b3a64c0287de2b6a9b0e8d8a722fac958b4ab
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+++ b/doc/html/classMoveitMediator-members.html
@@ -0,0 +1,86 @@
+<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">MoveitMediator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMoveitMediator.html">MoveitMediator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">connectRobots</a>(std::unique_ptr< AbstractRobotDecorator > robot) override</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a>() override</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(moveit_msgs::PlanningScene &in)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>(std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a>(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a>(std::string &dirn)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>() override</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">setTasks</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="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">taskMap</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>()</td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a>(std::vector< pcl::PointXYZ > &vector)</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">visual_tools_</a></td><td class="entry"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a>()</td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td><td class="entry"><a class="el" href="classAbstractMediator.html">AbstractMediator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveitMediator.html b/doc/html/classMoveitMediator.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: MoveitMediator 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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+<div class="header">
+ <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> |
+<a href="#pro-attribs">Protected Attributes</a> |
+<a href="classMoveitMediator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">MoveitMediator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a>.
+ <a href="classMoveitMediator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for MoveitMediator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMoveitMediator__inherit__graph.png" border="0" usemap="#MoveitMediator_inherit__map" alt="Inheritance graph"/></div>
+<map name="MoveitMediator_inherit__map" id="MoveitMediator_inherit__map">
+<area shape="rect" title="Refined MoveitMediator." alt="" coords="10,80,135,107"/>
+<area shape="rect" href="classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,5,140,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a45344034f504d548cb373fad34f5fada"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">connectRobots</a> (std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > robot) override</td></tr>
+<tr class="memdesc:a45344034f504d548cb373fad34f5fada"><td class="mdescLeft"> </td><td class="mdescRight">connect robot and initialize Moveit components <a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">More...</a><br /></td></tr>
+<tr class="separator:a45344034f504d548cb373fad34f5fada"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a718c6e366b14a90455c24b4556988a5d"><td class="memItemLeft" align="right" valign="top">moveit::task_constructor::Task </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a> (<a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</td></tr>
+<tr class="memdesc:a718c6e366b14a90455c24b4556988a5d"><td class="mdescLeft"> </td><td class="mdescRight">Create Task with Moveit Task Constructor. <a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">More...</a><br /></td></tr>
+<tr class="separator:a718c6e366b14a90455c24b4556988a5d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afff0b1c9ff2c44d6183cee51656a3a57"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a> ()</td></tr>
+<tr class="separator:afff0b1c9ff2c44d6183cee51656a3a57"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a60724698c5c21f37810f193791aa26c0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a> (<a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> *mr, moveit_msgs::PlanningScene &ps)</td></tr>
+<tr class="memdesc:a60724698c5c21f37810f193791aa26c0"><td class="mdescLeft"> </td><td class="mdescRight">Manipulate ACM by extracting inforamtion of spicified robot. <a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">More...</a><br /></td></tr>
+<tr class="separator:a60724698c5c21f37810f193791aa26c0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af2e9bb37a7e5cc9dfa6f95730c1d3867"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a> () override</td></tr>
+<tr class="memdesc:af2e9bb37a7e5cc9dfa6f95730c1d3867"><td class="mdescLeft"> </td><td class="mdescRight">mediator function <a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">More...</a><br /></td></tr>
+<tr class="separator:af2e9bb37a7e5cc9dfa6f95730c1d3867"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a33ae7dc9e2d38c809d59bfa0d7bbe421"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a> (moveit_msgs::PlanningScene &in)</td></tr>
+<tr class="memdesc:a33ae7dc9e2d38c809d59bfa0d7bbe421"><td class="mdescLeft"> </td><td class="mdescRight">Threaded function which calls executaion on a Robot. <a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">More...</a><br /></td></tr>
+<tr class="separator:a33ae7dc9e2d38c809d59bfa0d7bbe421"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2b7e11a58f4efddd642c82d250620bb7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a> (moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> *mr)</td></tr>
+<tr class="memdesc:a2b7e11a58f4efddd642c82d250620bb7"><td class="mdescLeft"> </td><td class="mdescRight">Merge Planning scene. <a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">More...</a><br /></td></tr>
+<tr class="separator:a2b7e11a58f4efddd642c82d250620bb7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa8edee17b0761961d4aa04e933d17af7"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a> ()</td></tr>
+<tr class="separator:aa8edee17b0761961d4aa04e933d17af7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b2bee0946f0635db6ae08150b496792"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a> (std::shared_ptr< ros::NodeHandle > const &nh)</td></tr>
+<tr class="memdesc:a9b2bee0946f0635db6ae08150b496792"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">More...</a><br /></td></tr>
+<tr class="separator:a9b2bee0946f0635db6ae08150b496792"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4cd7c33c1a5a66b55131094fb725e4e6"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a> (<a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> &mr, moveit_msgs::RobotTrajectory rt)</td></tr>
+<tr class="memdesc:a4cd7c33c1a5a66b55131094fb725e4e6"><td class="mdescLeft"> </td><td class="mdescRight">Threaded function which calls executaion on a Robot. <a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">More...</a><br /></td></tr>
+<tr class="separator:a4cd7c33c1a5a66b55131094fb725e4e6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2737afa6ea3e13c6a5d94eadeaff703d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a> ()</td></tr>
+<tr class="memdesc:a2737afa6ea3e13c6a5d94eadeaff703d"><td class="mdescLeft"> </td><td class="mdescRight">publish all panels in the planning scene <a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">More...</a><br /></td></tr>
+<tr class="separator:a2737afa6ea3e13c6a5d94eadeaff703d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aec492f16ca476ed4b1ce8770ba19219c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a> () override</td></tr>
+<tr class="memdesc:aec492f16ca476ed4b1ce8770ba19219c"><td class="mdescLeft"> </td><td class="mdescRight">Sets panels for robots. <a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">More...</a><br /></td></tr>
+<tr class="separator:aec492f16ca476ed4b1ce8770ba19219c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0a426873a61e05fdb5132494e8f5ac92"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">setTasks</a> (std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</td></tr>
+<tr class="separator:a0a426873a61e05fdb5132494e8f5ac92"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41cd26abc56422280688eae7ca021a44"><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="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">taskMap</a> ()</td></tr>
+<tr class="separator:a41cd26abc56422280688eae7ca021a44"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3bd2f6ff7906c23b0503449d3863b854"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a> ()</td></tr>
+<tr class="memdesc:a3bd2f6ff7906c23b0503449d3863b854"><td class="mdescLeft"> </td><td class="mdescRight">Threaded function which calls executaion on a Robot. <a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">More...</a><br /></td></tr>
+<tr class="separator:a3bd2f6ff7906c23b0503449d3863b854"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractMediator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr>
+<tr class="memitem:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. <a href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">More...</a><br /></td></tr>
+<tr class="separator:af50d0f408fcef5404043ba49627b42a1 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">dirname</a> ()</td></tr>
+<tr class="memdesc:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get dirname. <a href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">More...</a><br /></td></tr>
+<tr class="separator:a2e0808dd0543e36562ff7074241a37c6 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">resultVector</a> ()</td></tr>
+<tr class="memdesc:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get result_vector. <a href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">More...</a><br /></td></tr>
+<tr class="separator:abfeda444314311dd931237ff8eea943d inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classRobotReader.html">RobotReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">robotReader</a> ()</td></tr>
+<tr class="memdesc:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Robot_reader. <a href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">More...</a><br /></td></tr>
+<tr class="separator:ad5f1373899bb6bec89a51e3295bac45e inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">robots</a> ()</td></tr>
+<tr class="memdesc:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get robots. <a href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">More...</a><br /></td></tr>
+<tr class="separator:a6b7c63d2283d9a34cfe53c75bc6294e8 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">setDirname</a> (std::string &dirn)</td></tr>
+<tr class="memdesc:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Set dirname. <a href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">More...</a><br /></td></tr>
+<tr class="separator:a14fb98326c6c14fceb9b7b4749490afd inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">setResultVector</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &res)</td></tr>
+<tr class="memdesc:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Set result vector. <a href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">More...</a><br /></td></tr>
+<tr class="separator:a0d4451e49f9e7953ca5e32126b597619 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">pcl::PointCloud< pcl::PointXYZ >::Ptr </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">vector2cloud</a> (std::vector< pcl::PointXYZ > &vector)</td></tr>
+<tr class="memdesc:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Cloud converter. <a href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">More...</a><br /></td></tr>
+<tr class="separator:ae42784e8435ca6ebec2bc1af1f32ce02 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classWingReader.html">WingReader</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">wingReader</a> ()</td></tr>
+<tr class="memdesc:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get Wing_reader. <a href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">More...</a><br /></td></tr>
+<tr class="separator:a72eec7045a30201e1b8e2efa3f3c0855 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">wings</a> ()</td></tr>
+<tr class="memdesc:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Get wings. <a href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">More...</a><br /></td></tr>
+<tr class="separator:a0158088e933cb5031370809db6132d07 inherit pub_methods_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a937ab6d84f60f683accc39f2bc914d29"><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="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a></td></tr>
+<tr class="memdesc:a937ab6d84f60f683accc39f2bc914d29"><td class="mdescLeft"> </td><td class="mdescRight">shared allowed collision matrix between robots <a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">More...</a><br /></td></tr>
+<tr class="separator:a937ab6d84f60f683accc39f2bc914d29"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aaad3539de5c9b389bbde424a94337ee4"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a></td></tr>
+<tr class="memdesc:aaad3539de5c9b389bbde424a94337ee4"><td class="mdescLeft"> </td><td class="mdescRight">Moveit task Constructior cartesian planner. <a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">More...</a><br /></td></tr>
+<tr class="separator:aaad3539de5c9b389bbde424a94337ee4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a10558d2bb61a012a1495de7f4fb12008"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classCuboidReader.html">CuboidReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a></td></tr>
+<tr class="memdesc:a10558d2bb61a012a1495de7f4fb12008"><td class="mdescLeft"> </td><td class="mdescRight">coboidReader instance that distinguishes between scene objects of type bin and box <a href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">More...</a><br /></td></tr>
+<tr class="separator:a10558d2bb61a012a1495de7f4fb12008"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6b5a8e24b7c3fa6bc6784dc63ed43995"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a></td></tr>
+<tr class="memdesc:a6b5a8e24b7c3fa6bc6784dc63ed43995"><td class="mdescLeft"> </td><td class="mdescRight">Shared execution map containing groot node information. <a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">More...</a><br /></td></tr>
+<tr class="separator:a6b5a8e24b7c3fa6bc6784dc63ed43995"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a79e0223629cc5c5d50aa5f721160dee1"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classJobReader.html">JobReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a></td></tr>
+<tr class="memdesc:a79e0223629cc5c5d50aa5f721160dee1"><td class="mdescLeft"> </td><td class="mdescRight">jobReader instancde which reads task information <a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">More...</a><br /></td></tr>
+<tr class="separator:a79e0223629cc5c5d50aa5f721160dee1"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aaf5860e324b447ccaf93e614421bad26"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a></td></tr>
+<tr class="memdesc:aaf5860e324b447ccaf93e614421bad26"><td class="mdescLeft"> </td><td class="mdescRight">Move Group Interface of the whole multi-cell. <a href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">More...</a><br /></td></tr>
+<tr class="separator:aaf5860e324b447ccaf93e614421bad26"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a38e44c6e4bbe9f4e20215baa96b5cc03"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::Publisher > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a></td></tr>
+<tr class="memdesc:a38e44c6e4bbe9f4e20215baa96b5cc03"><td class="mdescLeft"> </td><td class="mdescRight">Publisher to manage PlanningScene diffs. <a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">More...</a><br /></td></tr>
+<tr class="separator:a38e44c6e4bbe9f4e20215baa96b5cc03"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b16784a81023bf4e258acf1618edd95"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a></td></tr>
+<tr class="memdesc:a9b16784a81023bf4e258acf1618edd95"><td class="mdescLeft"> </td><td class="mdescRight">Planningscene monitor. <a href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">More...</a><br /></td></tr>
+<tr class="separator:a9b16784a81023bf4e258acf1618edd95"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1107411a95846d672c2ba800034f91a2"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< planning_scene::PlanningScene > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a></td></tr>
+<tr class="memdesc:a1107411a95846d672c2ba800034f91a2"><td class="mdescLeft"> </td><td class="mdescRight">Shared Planning Scene. <a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">More...</a><br /></td></tr>
+<tr class="separator:a1107411a95846d672c2ba800034f91a2"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a74366e69063d71d7b4ebc6219724564f"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a></td></tr>
+<tr class="memdesc:a74366e69063d71d7b4ebc6219724564f"><td class="mdescLeft"> </td><td class="mdescRight">PlanningSceneInteface to manage Scene Objects. <a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">More...</a><br /></td></tr>
+<tr class="separator:a74366e69063d71d7b4ebc6219724564f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5cc07592a3bdaac2e60faa94bf3ef517"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::core::RobotModel > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a></td></tr>
+<tr class="memdesc:a5cc07592a3bdaac2e60faa94bf3ef517"><td class="mdescLeft"> </td><td class="mdescRight">Moveit Robot-Model as specified in SDF. <a href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">More...</a><br /></td></tr>
+<tr class="separator:a5cc07592a3bdaac2e60faa94bf3ef517"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a45e4b2f48c3c243d72615e81038c2885"><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="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a></td></tr>
+<tr class="memdesc:a45e4b2f48c3c243d72615e81038c2885"><td class="mdescLeft"> </td><td class="mdescRight">shared robot state between all robots <a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">More...</a><br /></td></tr>
+<tr class="separator:a45e4b2f48c3c243d72615e81038c2885"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac960a22e328d1fc71532019a3766bc22"><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="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a></td></tr>
+<tr class="memdesc:ac960a22e328d1fc71532019a3766bc22"><td class="mdescLeft"> </td><td class="mdescRight">Moveit task Constructior simple planner. <a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">More...</a><br /></td></tr>
+<tr class="separator:ac960a22e328d1fc71532019a3766bc22"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acd39aee6c6a3d55f5492d5ec07bd0da0"><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="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a></td></tr>
+<tr class="memdesc:acd39aee6c6a3d55f5492d5ec07bd0da0"><td class="mdescLeft"> </td><td class="mdescRight">Tasks mapped to Robot. <a href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">More...</a><br /></td></tr>
+<tr class="separator:acd39aee6c6a3d55f5492d5ec07bd0da0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a390303f3a11baeac837f150463f8cec7"><td class="memItemLeft" align="right" valign="top">std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a></td></tr>
+<tr class="memdesc:a390303f3a11baeac837f150463f8cec7"><td class="mdescLeft"> </td><td class="mdescRight">tasks multimap <a href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">More...</a><br /></td></tr>
+<tr class="separator:a390303f3a11baeac837f150463f8cec7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4ba2eb6738772bacbfa0dc9dbff5ed61"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">visual_tools_</a></td></tr>
+<tr class="memdesc:a4ba2eb6738772bacbfa0dc9dbff5ed61"><td class="mdescLeft"> </td><td class="mdescRight">MoveItVisualTools. <a href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">More...</a><br /></td></tr>
+<tr class="separator:a4ba2eb6738772bacbfa0dc9dbff5ed61"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractMediator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractMediator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractMediator.html">AbstractMediator</a></td></tr>
+<tr class="memitem:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">dirname_</a></td></tr>
+<tr class="memdesc:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Dirname of the reference protobuff. <a href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">More...</a><br /></td></tr>
+<tr class="separator:a93c390745716f6a5b2920c8ffaa58b3d inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">nh_</a></td></tr>
+<tr class="memdesc:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Nodehandle for access to the Rosparam server. <a href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">More...</a><br /></td></tr>
+<tr class="separator:a6caa36a0e7ca24bc97a9558cf46c72ad inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::vector< std::vector< std::vector< tf2::Transform > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">relative_bounds_</a></td></tr>
+<tr class="memdesc:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">total bound a workspace <a href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">More...</a><br /></td></tr>
+<tr class="separator:ac6e8ea822143df20ec6ecec2ff1603db inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< pcl::PointXYZ > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">result_vector_</a></td></tr>
+<tr class="memdesc:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Result_vector of base positions linked to robot. <a href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">More...</a><br /></td></tr>
+<tr class="separator:a3c7679cefd8f5ef8e208224745f8aac4 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classRobotReader.html">RobotReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">robot_reader_</a></td></tr>
+<tr class="memdesc:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Robot_reader which collects robot poses. <a href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">More...</a><br /></td></tr>
+<tr class="separator:a2fb941ec8ffe4da38ace5e4d504268f5 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a></td></tr>
+<tr class="memdesc:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Robots agents. <a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">More...</a><br /></td></tr>
+<tr class="separator:a48ef097d13df349180784869d3210938 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTSReader.html">TSReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">task_space_reader_</a></td></tr>
+<tr class="memdesc:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Task_space reader which provides drop off positions. <a href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">More...</a><br /></td></tr>
+<tr class="separator:a4786aa6941e2776476ca71829d771faa inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classWingReader.html">WingReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a></td></tr>
+<tr class="memdesc:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="mdescLeft"> </td><td class="mdescRight">Wing_reader which collects panel information of robots. <a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">More...</a><br /></td></tr>
+<tr class="separator:af90b3b692b2edfbb68bba2412e54a907 inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9b24efa2ec432e60f25c6a54970775fc inherit pro_attribs_classAbstractMediator"><td class="memItemLeft" align="right" valign="top">std::map< const std::string, std::vector< std::unique_ptr< <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a> > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">wings_</a></td></tr>
+<tr class="separator:a9b24efa2ec432e60f25c6a54970775fc inherit pro_attribs_classAbstractMediator"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a>. </p>
+<p>Build Multi-cells from specifications and apply MoveIt library, as well as Groot library functionallity to display the state in a task. </p>
+
+<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><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a9b2bee0946f0635db6ae08150b496792"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b2bee0946f0635db6ae08150b496792">◆ </a></span>MoveitMediator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">MoveitMediator::MoveitMediator </td>
+ <td>(</td>
+ <td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
+ <td class="paramname"><em>nh</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> constructor. </p>
+<p>initializes task_space reader </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">nh</td><td>Ros nodehandle </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00012">12</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="a45344034f504d548cb373fad34f5fada"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45344034f504d548cb373fad34f5fada">◆ </a></span>connectRobots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::connectRobots </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> > </td>
+ <td class="paramname"><em>robot</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>connect robot and initialize Moveit components </p>
+<p>Set up acm_ and rs_ members to track, merge, and publish changes during execution. </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">robot</td><td>RobotDecorator of Robot </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00047">47</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a718c6e366b14a90455c24b4556988a5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a718c6e366b14a90455c24b4556988a5d">◆ </a></span>createTask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">moveit::task_constructor::Task MoveitMediator::createTask </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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>Create Task with Moveit Task Constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">r</td><td>robot </td></tr>
+ <tr><td class="paramname">source</td><td>initaial position of object </td></tr>
+ <tr><td class="paramname">target</td><td>pose of object after execution </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00632">632</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="afff0b1c9ff2c44d6183cee51656a3a57"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afff0b1c9ff2c44d6183cee51656a3a57">◆ </a></span>executions()</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::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> >& MoveitMediator::executions </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#l00148">148</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a60724698c5c21f37810f193791aa26c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60724698c5c21f37810f193791aa26c0">◆ </a></span>manipulateACM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::manipulateACM </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> * </td>
+ <td class="paramname"><em>mr</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>Manipulate ACM by extracting inforamtion of spicified robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">mr</td><td>Robot </td></tr>
+ <tr><td class="paramname">ps</td><td>Planning Scene which contains ACM information </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00131">131</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="af2e9bb37a7e5cc9dfa6f95730c1d3867"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2e9bb37a7e5cc9dfa6f95730c1d3867">◆ </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 MoveitMediator::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>mediator function </p>
+<p>Construction of robots and planning scenes. Calculate plans in preor to chain them so that they can be executed in parallel. </p>
+
+<p>Implements <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00122">122</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a33ae7dc9e2d38c809d59bfa0d7bbe421"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a33ae7dc9e2d38c809d59bfa0d7bbe421">◆ </a></span>mergeACM()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::mergeACM </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>Threaded function which calls executaion on a Robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">in</td><td>merges acm into shared acm </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00563">563</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a2b7e11a58f4efddd642c82d250620bb7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b7e11a58f4efddd642c82d250620bb7">◆ </a></span>mergePS()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::mergePS </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="classAbstractRobotDecorator.html">AbstractRobotDecorator</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>Merge Planning scene. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">out</td><td>merged Planning Scene </td></tr>
+ <tr><td class="paramname">in</td><td>planning scene to merge </td></tr>
+ <tr><td class="paramname">mr</td><td>Robot to determine parts to merge in out planning scene </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00588">588</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa8edee17b0761961d4aa04e933d17af7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8edee17b0761961d4aa04e933d17af7">◆ </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> MoveitMediator::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#l00088">88</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a4cd7c33c1a5a66b55131094fb725e4e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cd7c33c1a5a66b55131094fb725e4e6">◆ </a></span>parallelExec()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::parallelExec </td>
+ <td>(</td>
+ <td class="paramtype"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> & </td>
+ <td class="paramname"><em>mr</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></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Threaded function which calls executaion on a Robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">mr</td><td>RobotDecorator of Robot </td></tr>
+ <tr><td class="paramname">rt</td><td>Robot trajetory </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00628">628</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a2737afa6ea3e13c6a5d94eadeaff703d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2737afa6ea3e13c6a5d94eadeaff703d">◆ </a></span>publishTables()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::publishTables </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>publish all panels in the planning scene </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00105">105</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aec492f16ca476ed4b1ce8770ba19219c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec492f16ca476ed4b1ce8770ba19219c">◆ </a></span>setPanel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::setPanel </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Sets panels for robots. </p>
+
+<p>Implements <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00068">68</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a0a426873a61e05fdb5132494e8f5ac92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a426873a61e05fdb5132494e8f5ac92">◆ </a></span>setTasks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::setTasks </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#l00151">151</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a41cd26abc56422280688eae7ca021a44"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41cd26abc56422280688eae7ca021a44">◆ </a></span>taskMap()</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> >& MoveitMediator::taskMap </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#l00149">149</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a3bd2f6ff7906c23b0503449d3863b854"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3bd2f6ff7906c23b0503449d3863b854">◆ </a></span>taskPlanner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void MoveitMediator::taskPlanner </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Threaded function which calls executaion on a Robot. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">in</td><td>merges acm into shared acm </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8cpp_source.html#l00292">292</a> of file <a class="el" href="moveit__mediator_8cpp_source.html">moveit_mediator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a937ab6d84f60f683accc39f2bc914d29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a937ab6d84f60f683accc39f2bc914d29">◆ </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> > MoveitMediator::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>shared allowed collision matrix between robots </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00072">72</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="aaad3539de5c9b389bbde424a94337ee4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaad3539de5c9b389bbde424a94337ee4">◆ </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> MoveitMediator::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>Moveit task Constructior cartesian planner. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00068">68</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a10558d2bb61a012a1495de7f4fb12008"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a10558d2bb61a012a1495de7f4fb12008">◆ </a></span>cuboid_reader_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::unique_ptr<<a class="el" href="classCuboidReader.html">CuboidReader</a>> MoveitMediator::cuboid_reader_</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>coboidReader instance that distinguishes between scene objects of type bin and box </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00071">71</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a6b5a8e24b7c3fa6bc6784dc63ed43995"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b5a8e24b7c3fa6bc6784dc63ed43995">◆ </a></span>executions_</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::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> > MoveitMediator::executions_</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>Shared execution map containing groot node information. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00075">75</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a79e0223629cc5c5d50aa5f721160dee1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a79e0223629cc5c5d50aa5f721160dee1">◆ </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="classJobReader.html">JobReader</a>> MoveitMediator::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>jobReader instancde which reads task information </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00070">70</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="aaf5860e324b447ccaf93e614421bad26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf5860e324b447ccaf93e614421bad26">◆ </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> MoveitMediator::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>Move Group Interface of the whole multi-cell. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00062">62</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a38e44c6e4bbe9f4e20215baa96b5cc03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38e44c6e4bbe9f4e20215baa96b5cc03">◆ </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> MoveitMediator::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>Publisher to manage PlanningScene diffs. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00065">65</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a9b16784a81023bf4e258acf1618edd95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b16784a81023bf4e258acf1618edd95">◆ </a></span>planning_scene_monitor_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> MoveitMediator::planning_scene_monitor_</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Planningscene monitor. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00066">66</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a1107411a95846d672c2ba800034f91a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1107411a95846d672c2ba800034f91a2">◆ </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> MoveitMediator::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>Shared Planning Scene. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00064">64</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a74366e69063d71d7b4ebc6219724564f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74366e69063d71d7b4ebc6219724564f">◆ </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> MoveitMediator::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>PlanningSceneInteface to manage Scene Objects. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00063">63</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a5cc07592a3bdaac2e60faa94bf3ef517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5cc07592a3bdaac2e60faa94bf3ef517">◆ </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> MoveitMediator::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>Moveit Robot-Model as specified in SDF. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00060">60</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a45e4b2f48c3c243d72615e81038c2885"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45e4b2f48c3c243d72615e81038c2885">◆ </a></span>rs_</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> > MoveitMediator::rs_</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>shared robot state between all robots </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00073">73</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac960a22e328d1fc71532019a3766bc22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac960a22e328d1fc71532019a3766bc22">◆ </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> MoveitMediator::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>Moveit task Constructior simple planner. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00067">67</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="acd39aee6c6a3d55f5492d5ec07bd0da0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd39aee6c6a3d55f5492d5ec07bd0da0">◆ </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> > MoveitMediator::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>Tasks mapped to Robot. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00069">69</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a390303f3a11baeac837f150463f8cec7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a390303f3a11baeac837f150463f8cec7">◆ </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> > > MoveitMediator::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>tasks multimap </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00074">74</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a4ba2eb6738772bacbfa0dc9dbff5ed61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ba2eb6738772bacbfa0dc9dbff5ed61">◆ </a></span>visual_tools_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::shared_ptr<moveit_visual_tools::MoveItVisualTools> MoveitMediator::visual_tools_</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>MoveItVisualTools. </p>
+
+<p class="definition">Definition at line <a class="el" href="moveit__mediator_8h_source.html#l00061">61</a> of file <a class="el" href="moveit__mediator_8h_source.html">moveit_mediator.h</a>.</p>
+
+</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveitMediator__inherit__graph.map b/doc/html/classMoveitMediator__inherit__graph.map
new file mode 100644
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--- /dev/null
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+<area shape="rect" id="node2" href="$classAbstractMediator.html" title="AbstractMediator." alt="" coords="5,5,140,32"/>
+</map>
diff --git a/doc/html/classMoveitMediator__inherit__graph.md5 b/doc/html/classMoveitMediator__inherit__graph.md5
new file mode 100644
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--- /dev/null
+++ b/doc/html/classMoveitMediator__inherit__graph.md5
@@ -0,0 +1 @@
+a9ca273c6991e1751b1d328425cedd82
\ No newline at end of file
diff --git a/doc/html/classMoveitMediator__inherit__graph.png b/doc/html/classMoveitMediator__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a852f8b1423628850628de9e9eadeb0a2690110
Binary files /dev/null and b/doc/html/classMoveitMediator__inherit__graph.png differ
diff --git a/doc/html/classMoveitPanel-members.html b/doc/html/classMoveitPanel-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..2f65f46d422107b754f830f7834362ab2680c80c
--- /dev/null
+++ b/doc/html/classMoveitPanel-members.html
@@ -0,0 +1,57 @@
+<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">MoveitPanel Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMoveitPanel.html">MoveitPanel</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><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 class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitPanel.html#a2a5bd27deda20024bde9c4ab5d9dd779">marker</a>()</td><td class="entry"><a class="el" href="classMoveitPanel.html">MoveitPanel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a></td><td class="entry"><a class="el" href="classMoveitPanel.html">MoveitPanel</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classMoveitPanel.html">MoveitPanel</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="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</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="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</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="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classMoveitPanel.html">MoveitPanel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</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>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveitPanel.html b/doc/html/classMoveitPanel.html
new file mode 100644
index 0000000000000000000000000000000000000000..65a883b70b26f321292199bb21103d3a2af4033e
--- /dev/null
+++ b/doc/html/classMoveitPanel.html
@@ -0,0 +1,230 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: MoveitPanel 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="classMoveitPanel-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">MoveitPanel 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 MoveitPanel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMoveitPanel__inherit__graph.png" border="0" usemap="#MoveitPanel_inherit__map" alt="Inheritance graph"/></div>
+<map name="MoveitPanel_inherit__map" id="MoveitPanel_inherit__map">
+<area shape="rect" title=" " alt="" coords="38,155,141,181"/>
+<area shape="rect" href="classPanel.html" title=" " alt="" coords="60,80,119,107"/>
+<area shape="rect" href="classAbstractRobotElement.html" title=" " alt="" coords="5,5,173,32"/>
+</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:a2a5bd27deda20024bde9c4ab5d9dd779"><td class="memItemLeft" align="right" valign="top">moveit_msgs::CollisionObject & </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitPanel.html#a2a5bd27deda20024bde9c4ab5d9dd779">marker</a> ()</td></tr>
+<tr class="separator:a2a5bd27deda20024bde9c4ab5d9dd779"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac84cab821b106238b797616e3f4c7cb0"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel</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:ac84cab821b106238b797616e3f4c7cb0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afe1cc4d474fd5762ba3583c075e0a4da"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:afe1cc4d474fd5762ba3583c075e0a4da"><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:a23fa1c5f2f3ea42d342d7db2dbba2a6e inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</a> (std::string str)</td></tr>
+<tr class="separator:a23fa1c5f2f3ea42d342d7db2dbba2a6e inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a337d9bf9cd3a43f2f3963b6dda5548c0 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:a337d9bf9cd3a43f2f3963b6dda5548c0 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:a992ba04d68b9a3c718fe69a88cd7ec03 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#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</a> () override</td></tr>
+<tr class="separator:a992ba04d68b9a3c718fe69a88cd7ec03 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a> (tf2::Transform tf, std::string <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</td></tr>
+<tr class="separator:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a> ()</td></tr>
+<tr class="separator:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><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:a3d41e6b2b3e2ecc2657f0c7e8ac91682"><td class="memItemLeft" align="right" valign="top">moveit_msgs::CollisionObject </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a></td></tr>
+<tr class="separator:a3d41e6b2b3e2ecc2657f0c7e8ac91682"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td></tr>
+<tr class="separator:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td></tr>
+<tr class="separator:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td></tr>
+<tr class="separator:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td></tr>
+<tr class="separator:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td></tr>
+<tr class="separator:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><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="ac84cab821b106238b797616e3f4c7cb0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac84cab821b106238b797616e3f4c7cb0">◆ </a></span>MoveitPanel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">MoveitPanel::MoveitPanel </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="a2a5bd27deda20024bde9c4ab5d9dd779"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a5bd27deda20024bde9c4ab5d9dd779">◆ </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& MoveitPanel::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="afe1cc4d474fd5762ba3583c075e0a4da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe1cc4d474fd5762ba3583c075e0a4da">◆ </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 MoveitPanel::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="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">AbstractRobotElement</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="a3d41e6b2b3e2ecc2657f0c7e8ac91682"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d41e6b2b3e2ecc2657f0c7e8ac91682">◆ </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 MoveitPanel::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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classMoveitPanel__inherit__graph.map b/doc/html/classMoveitPanel__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..e9d0e60f6fd017fc4ae99329a7bbcc8c7ad95af8
--- /dev/null
+++ b/doc/html/classMoveitPanel__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="MoveitPanel" name="MoveitPanel">
+<area shape="rect" id="node1" title=" " alt="" coords="38,155,141,181"/>
+<area shape="rect" id="node2" href="$classPanel.html" title=" " alt="" coords="60,80,119,107"/>
+<area shape="rect" id="node3" href="$classAbstractRobotElement.html" title=" " alt="" coords="5,5,173,32"/>
+</map>
diff --git a/doc/html/classMoveitPanel__inherit__graph.md5 b/doc/html/classMoveitPanel__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..cf305beaccb4ebbb17803f5056f9c8189e83a5ed
--- /dev/null
+++ b/doc/html/classMoveitPanel__inherit__graph.md5
@@ -0,0 +1 @@
+43eeec775e05470aa805e8f188519c6c
\ No newline at end of file
diff --git a/doc/html/classMoveitPanel__inherit__graph.png b/doc/html/classMoveitPanel__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f0f79d84b60302e263164c63aed6bb9ec978fa5
Binary files /dev/null and b/doc/html/classMoveitPanel__inherit__graph.png differ
diff --git a/doc/html/classMoveit__grasp__mediator-members.html b/doc/html/classMoveit__grasp__mediator-members.html
deleted file mode 100644
index 684d1d1fd29cc20d78f562c508109eb30b3241e3..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__grasp__mediator-members.html
+++ /dev/null
@@ -1,115 +0,0 @@
-<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
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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Moveit_grasp_mediator Class Reference</title>
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- <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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-<div class="memitem">
-<div class="memproto">
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- <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>
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-<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>
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-</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>
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- <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">
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-<p>Implements <a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator</a>.</p>
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-<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>
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-<a id="a1c5f2ad1dedf0b71711725e2d96c3b2d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1c5f2ad1dedf0b71711725e2d96c3b2d">◆ </a></span>generateRandomCuboid()</h2>
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- <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>
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- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">geometry_msgs::Pose & </td>
- <td class="paramname"><em>object_pose</em>, </td>
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- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>x_depth</em>, </td>
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- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>y_width</em>, </td>
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- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">double & </td>
- <td class="paramname"><em>z_height</em> </td>
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- <td></td>
- <td>)</td>
- <td></td><td></td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa469150a38fcf4e8a3d9acde59e4b519">◆ </a></span>getIKSolution()</h2>
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- <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>
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- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">robot_state::RobotState & </td>
- <td class="paramname"><em>solution</em>, </td>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a97f68aabffc7f663ab03927084044311">◆ </a></span>isStateValid()</h2>
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- <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>
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- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa285fd973936b65c68cfb19c054edfb5">◆ </a></span>manipulate_grasp_data()</h2>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a306c73cd3d0772a033fca3677fa547cc">◆ </a></span>manipulate_mapspace()</h2>
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- <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>
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- <tr>
- <td></td>
- <td>)</td>
- <td></td><td></td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ace031e7894f77a460ce5782a6e3160e8">◆ </a></span>mediate()</h2>
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- <td class="memname">void Moveit_grasp_mediator::mediate </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </td>
- <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
- </tr>
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-<p>Implements <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad2e01237a4927df1d71d99276e56761e">◆ </a></span>planFullGrasp()</h2>
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- <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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa27d054a12c40a0e4fe3e94da271df83">◆ </a></span>planPreApproach()</h2>
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- <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>
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- <td class="memname">void Moveit_grasp_mediator::scene_setup </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- <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>
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- <td></td>
- <td>)</td>
- <td></td><td></td>
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- <td>(</td>
- <td class="paramtype">const moveit_visual_tools::MoveItVisualToolsPtr & </td>
- <td class="paramname"><em>visual_tools</em>, </td>
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- <tr>
- <td class="paramkey"></td>
- <td></td>
- <td class="paramtype">const std::string & </td>
- <td class="paramname"><em>prompt</em> </td>
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- <td></td>
- <td>)</td>
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-<a id="a6ed9b1a3d7b66a75cc2f0c5712cf7a62"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a6ed9b1a3d7b66a75cc2f0c5712cf7a62">◆ </a></span>cuboid_reader_</h2>
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- <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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-<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>
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-<body onload='searchBox.OnSelectItem(0);'>
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-<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>
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-<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">
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-<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>
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-</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>
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-<div class="memitem">
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- <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>
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-<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>
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-<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>
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- <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>
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- <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>
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- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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-<p>Implements <a class="el" href="classAbstract__mediator.html#aafb2967bb33e9cc4ba0dcf54f29be144">Abstract_mediator</a>.</p>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab20eabb5f72715df3bb9305d216ea66a">◆ </a></span>check_collision()</h2>
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- <td>(</td>
- <td class="paramtype">const int & </td>
- <td class="paramname"><em>robot</em></td><td>)</td>
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-<p>Implements <a class="el" href="classAbstract__mediator.html#a7dbd0e2d480c9a496aa2fb77a14ab592">Abstract_mediator</a>.</p>
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-<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>
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- <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>
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-<p>Implements <a class="el" href="classAbstract__mediator.html#a0c102b5e272139492ab04ce0d4e43234">Abstract_mediator</a>.</p>
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-<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>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab864f0b277826dafff1944d9f884acff">◆ </a></span>mediate()</h2>
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- <td class="memname">void Moveit_mediator::mediate </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
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- </td>
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-<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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-<p>Implements <a class="el" href="classAbstract__mediator.html#adcd1ada33f056dadda3dc17a6299b731">Abstract_mediator</a>.</p>
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-<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>
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- <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>
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-<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>
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- <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>
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-<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>
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- <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>
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-<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1883a9e06be1b1684b76bd44f5925bf3">◆ </a></span>parallel_exec()</h2>
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- <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>
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-<div class="memitem">
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- <td class="memname">void Moveit_mediator::publish_tables </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a6913d3c81c3a30d9a628d0fe4756776c">◆ </a></span>rewrite_task_template()</h2>
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- <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>
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- <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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a77b4aae7790bdd2a24a2941d9fca43b3">◆ </a></span>set_wings()</h2>
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- <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>
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-<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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-<p>Implements <a class="el" href="classAbstract__mediator.html#af92b5d1cb508826454ae3ea0e5cbf5f2">Abstract_mediator</a>.</p>
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-<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>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab11f9ee155b39e5809f75d9dfd44f34c">◆ </a></span>task_map()</h2>
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- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
- </tr>
- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aae1a6378021b727fdfd1f1f3816b41c6">◆ </a></span>task_planner()</h2>
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- <td class="memname">void Moveit_mediator::task_planner </td>
- <td>(</td>
- <td class="paramname"></td><td>)</td>
- <td></td>
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-<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>
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-</div>
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-<h2 class="groupheader">Member Data Documentation</h2>
-<a id="adb99cac7a2807485330065b7019f7f2d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#adb99cac7a2807485330065b7019f7f2d">◆ </a></span>acm_</h2>
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- <td class="memname">std::map<std::string, std::vector<uint8_t> > Moveit_mediator::acm_</td>
- </tr>
- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#aeea1b8bf554a8a338f6548a100624b30">◆ </a></span>cartesian_planner_</h2>
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- <td class="memname">std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> Moveit_mediator::cartesian_planner_</td>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad95fe10af2afc29db1dc5bab04d314dd">◆ </a></span>cuboid_reader_</h2>
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- <td class="memname">std::unique_ptr<<a class="el" href="classCuboid__reader.html">Cuboid_reader</a>> Moveit_mediator::cuboid_reader_</td>
- </tr>
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-<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>
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- <td class="memname">std::unique_ptr<<a class="el" href="classJob__reader.html">Job_reader</a>> Moveit_mediator::job_reader_</td>
- </tr>
- </table>
- </td>
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-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<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>
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- <td class="memname">std::shared_ptr<moveit::planning_interface::MoveGroupInterface> Moveit_mediator::mgi_</td>
- </tr>
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-<span class="mlabels"><span class="mlabel">protected</span></span> </td>
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-<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>
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-<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>
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-<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>
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-<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>
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-<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>
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-</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>
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deleted file mode 100644
index 80565d013549d7fe2f963492c78dcdaa2575b403..0000000000000000000000000000000000000000
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diff --git a/doc/html/classMoveit__mediator__inherit__graph.md5 b/doc/html/classMoveit__mediator__inherit__graph.md5
deleted file mode 100644
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diff --git a/doc/html/classMoveit__panel-members.html b/doc/html/classMoveit__panel-members.html
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--- a/doc/html/classMoveit__panel-members.html
+++ /dev/null
@@ -1,62 +0,0 @@
-<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
deleted file mode 100644
index 2382247bdd75e3e84307f556e8fac5a3bd58f738..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__panel.html
+++ /dev/null
@@ -1,242 +0,0 @@
-<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
deleted file mode 100644
index 488079570a2aee2065e6f1df9f9798272930d8d5..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__panel__inherit__graph.map
+++ /dev/null
@@ -1,5 +0,0 @@
-<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="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
-</map>
diff --git a/doc/html/classMoveit__panel__inherit__graph.md5 b/doc/html/classMoveit__panel__inherit__graph.md5
deleted file mode 100644
index 9b6669a34c9293fdc91136833afedfba844bcded..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__panel__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-58bd2ab5d5cbd18d623dd1140c989182
\ No newline at end of file
diff --git a/doc/html/classMoveit__panel__inherit__graph.png b/doc/html/classMoveit__panel__inherit__graph.png
deleted file mode 100644
index 38a8cad83588780e70e50e8aa6c14e5a7c10b6c4..0000000000000000000000000000000000000000
Binary files a/doc/html/classMoveit__panel__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classMoveit__robot-members.html b/doc/html/classMoveit__robot-members.html
deleted file mode 100644
index 79dc1ba18c2c41f990f3b0bfd26b184d2387cc4e..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__robot-members.html
+++ /dev/null
@@ -1,93 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</title>
-<link href="doxygen.css" rel="stylesheet" type="text/css">
-<link href="tabs.css" rel="stylesheet" type="text/css">
-<script type="text/javascript" src="jquery.js"></script>
-</head>
-<body onload='searchBox.OnSelectItem(0);'>
-<!-- Generated by Doxygen 1.8.17 -->
-<script type="text/javascript" src="menudata.js"></script>
-<script type="text/javascript" src="menu.js"></script>
-<script type="text/javascript">
-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
-$(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
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+++ /dev/null
@@ -1,468 +0,0 @@
-<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
deleted file mode 100644
index 6a684a470bcf4e287f2278d40554157739f3f3c7..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__robot__inherit__graph.map
+++ /dev/null
@@ -1,5 +0,0 @@
-<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="$classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
-</map>
diff --git a/doc/html/classMoveit__robot__inherit__graph.md5 b/doc/html/classMoveit__robot__inherit__graph.md5
deleted file mode 100644
index c35ae4f2dfb28064fd9ef8c8a4116ee86f2de362..0000000000000000000000000000000000000000
--- a/doc/html/classMoveit__robot__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-cd1c4d20ed992ad280303fafdbc56a79
\ No newline at end of file
diff --git a/doc/html/classMoveit__robot__inherit__graph.png b/doc/html/classMoveit__robot__inherit__graph.png
deleted file mode 100644
index 317f332ac77b06bc5341d67bbf47b55433392e35..0000000000000000000000000000000000000000
Binary files a/doc/html/classMoveit__robot__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classPandaDecorator-members.html b/doc/html/classPandaDecorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..a4d4923e3d486c21d95e06ae1add339856034409
--- /dev/null
+++ b/doc/html/classPandaDecorator-members.html
@@ -0,0 +1,70 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">PandaDecorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPandaDecorator.html">PandaDecorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a>(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classPandaDecorator.html">PandaDecorator</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">spezifieRobotGroups</a>() override</td><td class="entry"><a class="el" href="classPandaDecorator.html">PandaDecorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">spezifieRootBounds</a>() override</td><td class="entry"><a class="el" href="classPandaDecorator.html">PandaDecorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPandaDecorator.html b/doc/html/classPandaDecorator.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: PandaDecorator 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>
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+<div class="header">
+ <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> |
+<a href="classPandaDecorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">PandaDecorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Panda Decorator.
+ <a href="classPandaDecorator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="panda__decorator_8h_source.html">panda_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for PandaDecorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPandaDecorator__inherit__graph.png" border="0" usemap="#PandaDecorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="PandaDecorator_inherit__map" id="PandaDecorator_inherit__map">
+<area shape="rect" title="Panda Decorator." alt="" coords="31,155,158,181"/>
+<area shape="rect" href="classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="5,80,184,107"/>
+<area shape="rect" href="classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="37,5,152,32"/>
+</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:a90cfc11e70a67b5f5cfe048893ff3787"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:a90cfc11e70a67b5f5cfe048893ff3787"><td class="mdescLeft"> </td><td class="mdescRight">Panda Decorator. <a href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">More...</a><br /></td></tr>
+<tr class="separator:a90cfc11e70a67b5f5cfe048893ff3787"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7ed0d3815b4f007959a430133c64d5be"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">spezifieRobotGroups</a> () override</td></tr>
+<tr class="memdesc:a7ed0d3815b4f007959a430133c64d5be"><td class="mdescLeft"> </td><td class="mdescRight">Panda Mapping spezififcation. <a href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">More...</a><br /></td></tr>
+<tr class="separator:a7ed0d3815b4f007959a430133c64d5be"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a35981f432b8a87948cf9c344b95988d7"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">spezifieRootBounds</a> () override</td></tr>
+<tr class="memdesc:a35981f432b8a87948cf9c344b95988d7"><td class="mdescLeft"> </td><td class="mdescRight">Panda Root spezififcation. <a href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">More...</a><br /></td></tr>
+<tr class="separator:a35981f432b8a87948cf9c344b95988d7"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotDecorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotDecorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memitem:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot Decorator. <a href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">More...</a><br /></td></tr>
+<tr class="separator:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a> () override</td></tr>
+<tr class="memdesc:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects bounds call to next_. <a href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">More...</a><br /></td></tr>
+<tr class="separator:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a> (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td></tr>
+<tr class="memdesc:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects check_single_object_collision call. <a href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">More...</a><br /></td></tr>
+<tr class="separator:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afe44b1b1711fa9a0ed97b7237f7cb6d5 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a> ()</td></tr>
+<tr class="separator:afe44b1b1711fa9a0ed97b7237f7cb6d5 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31223d85225bac9603e2ccd06578fe18 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a> ()</td></tr>
+<tr class="separator:a31223d85225bac9603e2ccd06578fe18 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a> () override</td></tr>
+<tr class="memdesc:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects name call to next_. <a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">More...</a><br /></td></tr>
+<tr class="separator:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobot.html">AbstractRobot</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a> ()</td></tr>
+<tr class="memdesc:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Call of mimiced objects. <a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">More...</a><br /></td></tr>
+<tr class="separator:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a> () override</td></tr>
+<tr class="memdesc:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects notify call to next_. <a href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">More...</a><br /></td></tr>
+<tr class="separator:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7eb1074e90af32a2c2fa496b58a1f751 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a> ()</td></tr>
+<tr class="separator:a7eb1074e90af32a2c2fa496b58a1f751 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a> () override</td></tr>
+<tr class="memdesc:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects robot_root_bounds call to next_. <a href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">More...</a><br /></td></tr>
+<tr class="separator:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a> () override</td></tr>
+<tr class="memdesc:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects root_tf call to next_. <a href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">More...</a><br /></td></tr>
+<tr class="separator:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a> () override</td></tr>
+<tr class="memdesc:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects size call to next_. <a href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">More...</a><br /></td></tr>
+<tr class="separator:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a> () override</td></tr>
+<tr class="memdesc:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects tf call to next_. <a href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">More...</a><br /></td></tr>
+<tr class="separator:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a> (std::string <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>)</td></tr>
+<tr class="separator:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">More...</a><br /></td></tr>
+<tr class="separator:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a> (float deg)</td></tr>
+<tr class="separator:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><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_classAbstractRobotDecorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotDecorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memitem:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td></tr>
+<tr class="memdesc:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Coming soon. <a href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">More...</a><br /></td></tr>
+<tr class="separator:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td></tr>
+<tr class="memdesc:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">//!< Mapping of specific task constructor variables <a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">More...</a><br /></td></tr>
+<tr class="separator:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td></tr>
+<tr class="memdesc:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the robots arm. <a href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">More...</a><br /></td></tr>
+<tr class="separator:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td></tr>
+<tr class="memdesc:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the Robots manipulator. <a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">More...</a><br /></td></tr>
+<tr class="separator:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td></tr>
+<tr class="memdesc:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot which is mimiced. <a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">More...</a><br /></td></tr>
+<tr class="separator:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td></tr>
+<tr class="memdesc:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Regexpattern. <a href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">More...</a><br /></td></tr>
+<tr class="separator:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td></tr>
+<tr class="memdesc:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">More...</a><br /></td></tr>
+<tr class="separator:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td></tr>
+<tr class="memdesc:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">More...</a><br /></td></tr>
+<tr class="separator:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">More...</a><br /></td></tr>
+<tr class="separator:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td></tr>
+<tr class="memdesc:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Robot root on table top. <a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">More...</a><br /></td></tr>
+<tr class="separator:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td></tr>
+<tr class="memdesc:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">More...</a><br /></td></tr>
+<tr class="separator:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td></tr>
+<tr class="memdesc:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">More...</a><br /></td></tr>
+<tr class="separator:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Panda Decorator. </p>
+<p>Decorator which describes the root-area of the 'Franca Emika Panda' Robot </p>
+
+<p class="definition">Definition at line <a class="el" href="panda__decorator_8h_source.html#l00013">13</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="a90cfc11e70a67b5f5cfe048893ff3787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a90cfc11e70a67b5f5cfe048893ff3787">◆ </a></span>PandaDecorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">PandaDecorator::PandaDecorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td>
+ <td class="paramname"><em>next</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Panda Decorator. </p>
+<p>initializes Panda Decorator </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">next</td><td>Abstract Robot to be mimiced </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<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="a7ed0d3815b4f007959a430133c64d5be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ed0d3815b4f007959a430133c64d5be">◆ </a></span>spezifieRobotGroups()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void PandaDecorator::spezifieRobotGroups </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>Panda Mapping spezififcation. </p>
+<p>Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor </p>
+
+<p>Implements <a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">AbstractRobotDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panda__decorator_8cpp_source.html#l00020">20</a> of file <a class="el" href="panda__decorator_8cpp_source.html">panda_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a35981f432b8a87948cf9c344b95988d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35981f432b8a87948cf9c344b95988d7">◆ </a></span>spezifieRootBounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void PandaDecorator::spezifieRootBounds </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>Panda Root spezififcation. </p>
+<p>Overrides the actual Robot root bounds with a rectangle, described from information of 'Franka Panda' manual </p>
+
+<p>Implements <a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">AbstractRobotDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="panda__decorator_8cpp_source.html#l00011">11</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPandaDecorator__inherit__graph.map b/doc/html/classPandaDecorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..7b5a5bc142dc6a03b9604fd70aa9bd83b167ce5c
--- /dev/null
+++ b/doc/html/classPandaDecorator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="PandaDecorator" name="PandaDecorator">
+<area shape="rect" id="node1" title="Panda Decorator." alt="" coords="31,155,158,181"/>
+<area shape="rect" id="node2" href="$classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="5,80,184,107"/>
+<area shape="rect" id="node3" href="$classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="37,5,152,32"/>
+</map>
diff --git a/doc/html/classPandaDecorator__inherit__graph.md5 b/doc/html/classPandaDecorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..c3abd46c581f4348c5f1fe64b386585ec4caf2c4
--- /dev/null
+++ b/doc/html/classPandaDecorator__inherit__graph.md5
@@ -0,0 +1 @@
+5e688d4c5eae049af2814627c2cdbe98
\ No newline at end of file
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+++ /dev/null
@@ -1,74 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</title>
-<link href="doxygen.css" rel="stylesheet" type="text/css">
-<link href="tabs.css" rel="stylesheet" type="text/css">
-<script type="text/javascript" src="jquery.js"></script>
-</head>
-<body onload='searchBox.OnSelectItem(0);'>
-<!-- Generated by Doxygen 1.8.17 -->
-<script type="text/javascript" src="menudata.js"></script>
-<script type="text/javascript" src="menu.js"></script>
-<script type="text/javascript">
-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
-$(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
deleted file mode 100644
index 2773abadf3d1b7da090762f56f0d6789f55de322..0000000000000000000000000000000000000000
--- a/doc/html/classPanda__decorator.html
+++ /dev/null
@@ -1,243 +0,0 @@
-<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
deleted file mode 100644
index b0958c6314b9e5e0437bdbddafefc36cb76c202a..0000000000000000000000000000000000000000
--- a/doc/html/classPanda__decorator__inherit__graph.map
+++ /dev/null
@@ -1,5 +0,0 @@
-<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
deleted file mode 100644
index 5998028b2d9df98eea818c3ccc9473caeb08d09d..0000000000000000000000000000000000000000
--- a/doc/html/classPanda__decorator__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-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
deleted file mode 100644
index 75ad6f57e2f2f24874f851a4bcc28c782f9bc7b3..0000000000000000000000000000000000000000
Binary files a/doc/html/classPanda__decorator__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classPanel-members.html b/doc/html/classPanel-members.html
index ef8de84dfaf9f58e57a9c87e70729bc5952cd6cc..65615240d9d40e777f96de48db212c427aea4186 100644
--- a/doc/html/classPanel-members.html
+++ b/doc/html/classPanel-members.html
@@ -24,36 +24,31 @@ $(function() {
<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="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><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 class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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><td class="entry"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</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="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</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="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><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 class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</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>
</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classPanel.html b/doc/html/classPanel.html
index a91d4eea6ac46f6980eb394a7dc2926debe486d2..258e1210dc35647ac9373e4c90be255eae5fc482 100644
--- a/doc/html/classPanel.html
+++ b/doc/html/classPanel.html
@@ -31,10 +31,10 @@ 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"/>
+<area shape="rect" title=" " alt="" coords="86,80,145,107"/>
+<area shape="rect" href="classMoveitPanel.html" title=" " alt="" coords="5,155,108,181"/>
+<area shape="rect" href="classRvizPanel.html" title=" " alt="" coords="132,155,219,181"/>
+<area shape="rect" href="classAbstractRobotElement.html" title=" " alt="" coords="31,5,199,32"/>
</map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
@@ -46,53 +46,41 @@ Public Member Functions</h2></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:a23fa1c5f2f3ea42d342d7db2dbba2a6e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</a> (std::string str)</td></tr>
+<tr class="separator:a23fa1c5f2f3ea42d342d7db2dbba2a6e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a337d9bf9cd3a43f2f3963b6dda5548c0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:a337d9bf9cd3a43f2f3963b6dda5548c0"><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>
+<tr class="memitem:a992ba04d68b9a3c718fe69a88cd7ec03"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</a> () override</td></tr>
+<tr class="separator:a992ba04d68b9a3c718fe69a88cd7ec03"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a> (tf2::Transform tf, std::string <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</td></tr>
+<tr class="separator:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a> ()</td></tr>
+<tr class="separator:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><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>
+<tr class="inherit_header pro_attribs_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td></tr>
+<tr class="separator:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td></tr>
+<tr class="separator:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td></tr>
+<tr class="separator:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td></tr>
+<tr class="separator:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td></tr>
+<tr class="separator:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
@@ -158,7 +146,7 @@ Additional Inherited Members</h2></td></tr>
</table>
</div><div class="memdoc">
-<p>Implements <a class="el" href="classAbstract__robot__element.html#a402345bc67c9a2d09f903d910ee20405">Abstract_robot_element</a>.</p>
+<p>Implements <a class="el" href="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">AbstractRobotElement</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>
@@ -187,14 +175,14 @@ Additional Inherited Members</h2></td></tr>
</table>
</div><div class="memdoc">
-<p>Implements <a class="el" href="classAbstract__robot__element.html#a910a29582a54972c947fa57bbdc444ec">Abstract_robot_element</a>.</p>
+<p>Implements <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">AbstractRobotElement</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>
+<a id="a23fa1c5f2f3ea42d342d7db2dbba2a6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23fa1c5f2f3ea42d342d7db2dbba2a6e">◆ </a></span>setName()</h2>
<div class="memitem">
<div class="memproto">
@@ -203,7 +191,7 @@ Additional Inherited Members</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Panel::set_name </td>
+ <td class="memname">void Panel::setName </td>
<td>(</td>
<td class="paramtype">std::string </td>
<td class="paramname"><em>str</em></td><td>)</td>
@@ -221,8 +209,8 @@ Additional Inherited Members</h2></td></tr>
</div>
</div>
-<a id="af865f7bb6545e057fcb0a76fd774a497"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af865f7bb6545e057fcb0a76fd774a497">◆ </a></span>set_set()</h2>
+<a id="a337d9bf9cd3a43f2f3963b6dda5548c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a337d9bf9cd3a43f2f3963b6dda5548c0">◆ </a></span>setSize()</h2>
<div class="memitem">
<div class="memproto">
@@ -231,7 +219,7 @@ Additional Inherited Members</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Panel::set_set </td>
+ <td class="memname">void Panel::setSize </td>
<td>(</td>
<td class="paramtype">tf2::Vector3 & </td>
<td class="paramname"><em>vec</em></td><td>)</td>
@@ -272,7 +260,7 @@ Additional Inherited Members</h2></td></tr>
</table>
</div><div class="memdoc">
-<p>Implements <a class="el" href="classAbstract__robot__element.html#a2eb0ca7627bba7b58e85046532e68269">Abstract_robot_element</a>.</p>
+<p>Implements <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">AbstractRobotElement</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>
@@ -302,16 +290,16 @@ Additional Inherited Members</h2></td></tr>
</table>
</div><div class="memdoc">
-<p>Implements <a class="el" href="classAbstract__robot__element.html#aecee1e1a5ca1f40473f325583b39dd9d">Abstract_robot_element</a>.</p>
+<p>Implements <a class="el" href="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">AbstractRobotElement</a>.</p>
-<p>Reimplemented in <a class="el" href="classRviz__panel.html#a2da4da9105d8662c0f7cb3409bb36e43">Rviz_panel</a>.</p>
+<p>Reimplemented in <a class="el" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel</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>
+<a id="a992ba04d68b9a3c718fe69a88cd7ec03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a992ba04d68b9a3c718fe69a88cd7ec03">◆ </a></span>worldTf()</h2>
<div class="memitem">
<div class="memproto">
@@ -320,7 +308,7 @@ Additional Inherited Members</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">tf2::Transform& Panel::world_tf </td>
+ <td class="memname">tf2::Transform& Panel::worldTf </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -333,7 +321,7 @@ Additional Inherited Members</h2></td></tr>
</table>
</div><div class="memdoc">
-<p>Implements <a class="el" href="classAbstract__robot__element.html#a6886c5fcf4a701aaab12b93fef87e3a6">Abstract_robot_element</a>.</p>
+<p>Implements <a class="el" href="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">AbstractRobotElement</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>
@@ -349,7 +337,7 @@ Additional Inherited Members</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classPanel__inherit__graph.map b/doc/html/classPanel__inherit__graph.map
index 9849e82dc6667873b72d980f840736f0077fc871..ae1c5a624553c3692b3496ad47249c41c9e86907 100644
--- a/doc/html/classPanel__inherit__graph.map
+++ b/doc/html/classPanel__inherit__graph.map
@@ -1,6 +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"/>
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-<area shape="rect" id="node2" href="$classAbstract__robot__element.html" title=" " alt="" coords="34,5,213,32"/>
+<area shape="rect" id="node1" title=" " alt="" coords="86,80,145,107"/>
+<area shape="rect" id="node3" href="$classMoveitPanel.html" title=" " alt="" coords="5,155,108,181"/>
+<area shape="rect" id="node4" href="$classRvizPanel.html" title=" " alt="" coords="132,155,219,181"/>
+<area shape="rect" id="node2" href="$classAbstractRobotElement.html" title=" " alt="" coords="31,5,199,32"/>
</map>
diff --git a/doc/html/classPanel__inherit__graph.md5 b/doc/html/classPanel__inherit__graph.md5
index e8834e8d9e70666d55a4354bfdd4b64b984ce530..4cd1bd1af448d632cc64360fcb7b70800d1ee3f9 100644
--- a/doc/html/classPanel__inherit__graph.md5
+++ b/doc/html/classPanel__inherit__graph.md5
@@ -1 +1 @@
-034850b78863ce80095680bb86cf744f
\ No newline at end of file
+790dced51cd9cd354696b2751d4d42c3
\ No newline at end of file
diff --git a/doc/html/classPanel__inherit__graph.png b/doc/html/classPanel__inherit__graph.png
index d41f17355743636afba0a1a0266e41bfcc0ede9b..b7a3c2b9bfac4e6629365c6ec827acf42c2e4c10 100644
Binary files a/doc/html/classPanel__inherit__graph.png and b/doc/html/classPanel__inherit__graph.png differ
diff --git a/doc/html/classParallel__robot-members.html b/doc/html/classParallel__robot-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..d20810c37e0ded6c14fcbf59728ecbafe30685fc
--- /dev/null
+++ b/doc/html/classParallel__robot-members.html
@@ -0,0 +1,52 @@
+<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">Parallel_robot Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classParallel__robot.html">Parallel_robot</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">failure_threshold_</a></td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">failureThreshold</a>() const</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">halt</a>() override</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot</a>(const std::string &name, int success_threshold, int failure_threshold=1)</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#a271c718a61caa49962844920702423ab">Parallel_robot</a>(const std::string &name, const BT::NodeConfiguration &config)</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192">providedPorts</a>()</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">read_parameter_from_ports_</a></td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">setFailureThreshold</a>(int threshold_M)</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">setSuccessThreshold</a>(int threshold_M)</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a></td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a></td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">successThreshold</a>() const</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">THRESHOLD_FAILURE</a></td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">THRESHOLD_SUCCESS</a></td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">static</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">tick</a>() override</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td><td class="entry"><span class="mlabel">private</span><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classParallel__robot.html#ae47e7694da2fffee10f8488e5ce66af4">~Parallel_robot</a>() override=default</td><td class="entry"><a class="el" href="classParallel__robot.html">Parallel_robot</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classParallel__robot.html b/doc/html/classParallel__robot.html
new file mode 100644
index 0000000000000000000000000000000000000000..0a857d2628d2cfa03ebf637b8b4c0550631e18c6
--- /dev/null
+++ b/doc/html/classParallel__robot.html
@@ -0,0 +1,503 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Parallel_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="#pub-static-methods">Static Public Member Functions</a> |
+<a href="#pri-methods">Private Member Functions</a> |
+<a href="#pri-attribs">Private Attributes</a> |
+<a href="#pri-static-attribs">Static Private Attributes</a> |
+<a href="classParallel__robot-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">Parallel_robot Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include <<a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for Parallel_robot:</div>
+<div class="dyncontent">
+<div class="center"><img src="classParallel__robot__inherit__graph.png" border="0" usemap="#Parallel__robot_inherit__map" alt="Inheritance graph"/></div>
+<map name="Parallel__robot_inherit__map" id="Parallel__robot_inherit__map">
+<area shape="rect" title=" " alt="" coords="13,80,125,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,132,32"/>
+</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:aea8990fc1a14b9d74cabf503958171f0"><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">failureThreshold</a> () const</td></tr>
+<tr class="separator:aea8990fc1a14b9d74cabf503958171f0"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a51e9a303d56b52653fa05e142a0774fb"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">halt</a> () override</td></tr>
+<tr class="separator:a51e9a303d56b52653fa05e142a0774fb"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a271c718a61caa49962844920702423ab"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a271c718a61caa49962844920702423ab">Parallel_robot</a> (const std::string &name, const BT::NodeConfiguration &config)</td></tr>
+<tr class="separator:a271c718a61caa49962844920702423ab"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a39d6302c432a3a241db38d3c114e4d05"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot</a> (const std::string &name, int success_threshold, int failure_threshold=1)</td></tr>
+<tr class="separator:a39d6302c432a3a241db38d3c114e4d05"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a17ea6f51f03e722461dd3f23b424e83b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">setFailureThreshold</a> (int threshold_M)</td></tr>
+<tr class="separator:a17ea6f51f03e722461dd3f23b424e83b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5f61356e63d4df62dc58425b6d527fe5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">setSuccessThreshold</a> (int threshold_M)</td></tr>
+<tr class="separator:a5f61356e63d4df62dc58425b6d527fe5"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a46947e2d10f00779b104f0e6c89cd517"><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">successThreshold</a> () const</td></tr>
+<tr class="separator:a46947e2d10f00779b104f0e6c89cd517"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae47e7694da2fffee10f8488e5ce66af4"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#ae47e7694da2fffee10f8488e5ce66af4">~Parallel_robot</a> () override=default</td></tr>
+<tr class="separator:ae47e7694da2fffee10f8488e5ce66af4"><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:a31eeadd3e4da2afd68a739461ecbc192"><td class="memItemLeft" align="right" valign="top">static BT::PortsList </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192">providedPorts</a> ()</td></tr>
+<tr class="separator:a31eeadd3e4da2afd68a739461ecbc192"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:ad4aea64f621cd55774ce35b149532888"><td class="memItemLeft" align="right" valign="top">virtual BT::NodeStatus </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">tick</a> () override</td></tr>
+<tr class="separator:ad4aea64f621cd55774ce35b149532888"><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:a2a54c8f9bb5f8d5c9800907d55758709"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">failure_threshold_</a></td></tr>
+<tr class="separator:a2a54c8f9bb5f8d5c9800907d55758709"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad93af8c0183246a5cd280f0107c85774"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">read_parameter_from_ports_</a></td></tr>
+<tr class="separator:ad93af8c0183246a5cd280f0107c85774"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a35fe1b8632f9c0840f042186a099aef6"><td class="memItemLeft" align="right" valign="top">std::set< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a></td></tr>
+<tr class="separator:a35fe1b8632f9c0840f042186a099aef6"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a93f91a57685763cfa5937a0d23d386ce"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a></td></tr>
+<tr class="separator:a93f91a57685763cfa5937a0d23d386ce"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-static-attribs"></a>
+Static Private Attributes</h2></td></tr>
+<tr class="memitem:a18d65326a2ad39a4f9db87d35fe86a72"><td class="memItemLeft" align="right" valign="top">static constexpr const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">THRESHOLD_FAILURE</a> = "failure_threshold"</td></tr>
+<tr class="separator:a18d65326a2ad39a4f9db87d35fe86a72"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a61852573b46662bedbae6e566f3274ad"><td class="memItemLeft" align="right" valign="top">static constexpr const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">THRESHOLD_SUCCESS</a> = "success_threshold"</td></tr>
+<tr class="separator:a61852573b46662bedbae6e566f3274ad"><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="parallel__robot_8h_source.html#l00009">9</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a39d6302c432a3a241db38d3c114e4d05"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39d6302c432a3a241db38d3c114e4d05">◆ </a></span>Parallel_robot() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Parallel_robot::Parallel_robot </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int </td>
+ <td class="paramname"><em>success_threshold</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">int </td>
+ <td class="paramname"><em>failure_threshold</em> = <code>1</code> </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="parallel__robot_8cpp_source.html#l00024">24</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a271c718a61caa49962844920702423ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a271c718a61caa49962844920702423ab">◆ </a></span>Parallel_robot() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">Parallel_robot::Parallel_robot </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const BT::NodeConfiguration & </td>
+ <td class="paramname"><em>config</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="parallel__robot_8cpp_source.html#l00032">32</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ae47e7694da2fffee10f8488e5ce66af4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae47e7694da2fffee10f8488e5ce66af4">◆ </a></span>~Parallel_robot()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">Parallel_robot::~Parallel_robot </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">default</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aea8990fc1a14b9d74cabf503958171f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea8990fc1a14b9d74cabf503958171f0">◆ </a></span>failureThreshold()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">size_t Parallel_robot::failureThreshold </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td> const</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8cpp_source.html#l00133">133</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a51e9a303d56b52653fa05e142a0774fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51e9a303d56b52653fa05e142a0774fb">◆ </a></span>halt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Parallel_robot::halt </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 class="definition">Definition at line <a class="el" href="parallel__robot_8cpp_source.html#l00120">120</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a31eeadd3e4da2afd68a739461ecbc192"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31eeadd3e4da2afd68a739461ecbc192">◆ </a></span>providedPorts()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">static BT::PortsList Parallel_robot::providedPorts </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">static</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8h_source.html#l00014">14</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a17ea6f51f03e722461dd3f23b424e83b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17ea6f51f03e722461dd3f23b424e83b">◆ </a></span>setFailureThreshold()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Parallel_robot::setFailureThreshold </td>
+ <td>(</td>
+ <td class="paramtype">int </td>
+ <td class="paramname"><em>threshold_M</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8cpp_source.html#l00143">143</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a5f61356e63d4df62dc58425b6d527fe5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f61356e63d4df62dc58425b6d527fe5">◆ </a></span>setSuccessThreshold()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void Parallel_robot::setSuccessThreshold </td>
+ <td>(</td>
+ <td class="paramtype">int </td>
+ <td class="paramname"><em>threshold_M</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8cpp_source.html#l00139">139</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a46947e2d10f00779b104f0e6c89cd517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46947e2d10f00779b104f0e6c89cd517">◆ </a></span>successThreshold()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">size_t Parallel_robot::successThreshold </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td> const</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8cpp_source.html#l00126">126</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<a id="ad4aea64f621cd55774ce35b149532888"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4aea64f621cd55774ce35b149532888">◆ </a></span>tick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">BT::NodeStatus Parallel_robot::tick </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">private</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8cpp_source.html#l00039">39</a> of file <a class="el" href="parallel__robot_8cpp_source.html">parallel_robot.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a2a54c8f9bb5f8d5c9800907d55758709"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a54c8f9bb5f8d5c9800907d55758709">◆ </a></span>failure_threshold_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">int Parallel_robot::failure_threshold_</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="parallel__robot_8h_source.html#l00033">33</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="ad93af8c0183246a5cd280f0107c85774"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad93af8c0183246a5cd280f0107c85774">◆ </a></span>read_parameter_from_ports_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool Parallel_robot::read_parameter_from_ports_</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="parallel__robot_8h_source.html#l00037">37</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a35fe1b8632f9c0840f042186a099aef6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35fe1b8632f9c0840f042186a099aef6">◆ </a></span>skip_list_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::set<int> Parallel_robot::skip_list_</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="parallel__robot_8h_source.html#l00035">35</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a93f91a57685763cfa5937a0d23d386ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93f91a57685763cfa5937a0d23d386ce">◆ </a></span>success_threshold_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">int Parallel_robot::success_threshold_</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="parallel__robot_8h_source.html#l00032">32</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a18d65326a2ad39a4f9db87d35fe86a72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18d65326a2ad39a4f9db87d35fe86a72">◆ </a></span>THRESHOLD_FAILURE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">constexpr const char* Parallel_robot::THRESHOLD_FAILURE = "failure_threshold"</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8h_source.html#l00039">39</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<a id="a61852573b46662bedbae6e566f3274ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61852573b46662bedbae6e566f3274ad">◆ </a></span>THRESHOLD_SUCCESS</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">constexpr const char* Parallel_robot::THRESHOLD_SUCCESS = "success_threshold"</td>
+ </tr>
+ </table>
+ </td>
+ <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span><span class="mlabel">constexpr</span><span class="mlabel">private</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="parallel__robot_8h_source.html#l00038">38</a> of file <a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="parallel__robot_8h_source.html">parallel_robot.h</a></li>
+<li><a class="el" href="parallel__robot_8cpp_source.html">parallel_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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classParallel__robot__inherit__graph.map b/doc/html/classParallel__robot__inherit__graph.map
new file mode 100644
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new file mode 100644
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diff --git a/doc/html/classPositionCondition-members.html b/doc/html/classPositionCondition-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..20326db05e5df421ea4a7324851c5243198f1d5e
--- /dev/null
+++ b/doc/html/classPositionCondition-members.html
@@ -0,0 +1,43 @@
+<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">PositionCondition Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPositionCondition.html">PositionCondition</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">init</a>(const std::string &obj_name, tf2::Vector3 &start_pos, moveit::planning_interface::PlanningSceneInterface *psi)</td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">obj_name_</a></td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition</a>(const std::string &name, const BT::NodeConfiguration &config)</td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">providedPorts</a>()</td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">psi_</a></td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">start_pos_</a></td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">tick</a>() override</td><td class="entry"><a class="el" href="classPositionCondition.html">PositionCondition</a></td><td class="entry"><span class="mlabel">protected</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classPositionCondition.html b/doc/html/classPositionCondition.html
new file mode 100644
index 0000000000000000000000000000000000000000..43a70248b61945fdb0fe11917aae30db8781b063
--- /dev/null
+++ b/doc/html/classPositionCondition.html
@@ -0,0 +1,328 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: PositionCondition 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>
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+/* @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-methods">Protected Member Functions</a> |
+<a href="#pro-attribs">Protected Attributes</a> |
+<a href="classPositionCondition-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">PositionCondition Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node.
+ <a href="classPositionCondition.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="position__condition_8h_source.html">position_condition.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for PositionCondition:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPositionCondition__inherit__graph.png" border="0" usemap="#PositionCondition_inherit__map" alt="Inheritance graph"/></div>
+<map name="PositionCondition_inherit__map" id="PositionCondition_inherit__map">
+<area shape="rect" title="PositionCondition Node." alt="" coords="9,80,145,107"/>
+<area shape="rect" title=" " 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:ac75b50f2bf55d0a65c672143d0cada29"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">init</a> (const std::string &obj_name, tf2::Vector3 &start_pos, moveit::planning_interface::PlanningSceneInterface *psi)</td></tr>
+<tr class="memdesc:ac75b50f2bf55d0a65c672143d0cada29"><td class="mdescLeft"> </td><td class="mdescRight">Initialize Node. <a href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">More...</a><br /></td></tr>
+<tr class="separator:ac75b50f2bf55d0a65c672143d0cada29"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad4c35d4df2ee3cb464c7cd394ef2e97b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition</a> (const std::string &name, const BT::NodeConfiguration &config)</td></tr>
+<tr class="memdesc:ad4c35d4df2ee3cb464c7cd394ef2e97b"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> constructor. <a href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">More...</a><br /></td></tr>
+<tr class="separator:ad4c35d4df2ee3cb464c7cd394ef2e97b"><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:a8aa99235865a84c7ce87576c17a7fc2d"><td class="memItemLeft" align="right" valign="top">static BT::PortsList </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">providedPorts</a> ()</td></tr>
+<tr class="memdesc:a8aa99235865a84c7ce87576c17a7fc2d"><td class="mdescLeft"> </td><td class="mdescRight">Required port inferface. <a href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">More...</a><br /></td></tr>
+<tr class="separator:a8aa99235865a84c7ce87576c17a7fc2d"><td class="memSeparator" colspan="2"> </td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:aff184773a2a27806790ed315f88eb8a3"><td class="memItemLeft" align="right" valign="top">virtual BT::NodeStatus </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">tick</a> () override</td></tr>
+<tr class="memdesc:aff184773a2a27806790ed315f88eb8a3"><td class="mdescLeft"> </td><td class="mdescRight">tick function <a href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">More...</a><br /></td></tr>
+<tr class="separator:aff184773a2a27806790ed315f88eb8a3"><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:a042c6ac7a28051aa0491058557985c1d"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">obj_name_</a></td></tr>
+<tr class="memdesc:a042c6ac7a28051aa0491058557985c1d"><td class="mdescLeft"> </td><td class="mdescRight">Object name. <a href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">More...</a><br /></td></tr>
+<tr class="separator:a042c6ac7a28051aa0491058557985c1d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af8910f64e26617d23e971c29c127a88e"><td class="memItemLeft" align="right" valign="top">moveit::planning_interface::PlanningSceneInterface * </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">psi_</a></td></tr>
+<tr class="memdesc:af8910f64e26617d23e971c29c127a88e"><td class="mdescLeft"> </td><td class="mdescRight">PSI. <a href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">More...</a><br /></td></tr>
+<tr class="separator:af8910f64e26617d23e971c29c127a88e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a5aef5e00f9dfa8fc3b80bc1fa86b358e"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">start_pos_</a></td></tr>
+<tr class="memdesc:a5aef5e00f9dfa8fc3b80bc1fa86b358e"><td class="mdescLeft"> </td><td class="mdescRight">Start position. <a href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">More...</a><br /></td></tr>
+<tr class="separator:a5aef5e00f9dfa8fc3b80bc1fa86b358e"><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="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node. </p>
+<p>Implements a pre-condition, in which Objects require a specific position to be processed. </p>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8h_source.html#l00021">21</a> of file <a class="el" href="position__condition_8h_source.html">position_condition.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="ad4c35d4df2ee3cb464c7cd394ef2e97b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4c35d4df2ee3cb464c7cd394ef2e97b">◆ </a></span>PositionCondition()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">PositionCondition::PositionCondition </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">const BT::NodeConfiguration & </td>
+ <td class="paramname"><em>config</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">name</td><td>Name displayed in Groot </td></tr>
+ <tr><td class="paramname">config</td><td>Node configuration </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8cpp_source.html#l00003">3</a> of file <a class="el" href="position__condition_8cpp_source.html">position_condition.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac75b50f2bf55d0a65c672143d0cada29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac75b50f2bf55d0a65c672143d0cada29">◆ </a></span>init()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">void PositionCondition::init </td>
+ <td>(</td>
+ <td class="paramtype">const std::string & </td>
+ <td class="paramname"><em>obj_name</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">tf2::Vector3 & </td>
+ <td class="paramname"><em>start_pos</em>, </td>
+ </tr>
+ <tr>
+ <td class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">moveit::planning_interface::PlanningSceneInterface * </td>
+ <td class="paramname"><em>psi</em> </td>
+ </tr>
+ <tr>
+ <td></td>
+ <td>)</td>
+ <td></td><td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>Initialize Node. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">obj_name</td><td>Name of Object </td></tr>
+ <tr><td class="paramname">start_pos</td><td>Position which is to check </td></tr>
+ <tr><td class="paramname">psi</td><td>Planning scene interface reference </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8cpp_source.html#l00006">6</a> of file <a class="el" href="position__condition_8cpp_source.html">position_condition.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a8aa99235865a84c7ce87576c17a7fc2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8aa99235865a84c7ce87576c17a7fc2d">◆ </a></span>providedPorts()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">static BT::PortsList PositionCondition::providedPorts </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">static</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Required port inferface. </p>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8h_source.html#l00040">40</a> of file <a class="el" href="position__condition_8h_source.html">position_condition.h</a>.</p>
+
+</div>
+</div>
+<a id="aff184773a2a27806790ed315f88eb8a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff184773a2a27806790ed315f88eb8a3">◆ </a></span>tick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">BT::NodeStatus PositionCondition::tick </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">protected</span><span class="mlabel">virtual</span></span> </td>
+ </tr>
+</table>
+</div><div class="memdoc">
+
+<p>tick function </p>
+<p>Actual object position is retrived by name and checked againt the start position of the execution </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">obj_name</td><td>Name of Object </td></tr>
+ <tr><td class="paramname">start_pos</td><td>Position which is to check </td></tr>
+ <tr><td class="paramname">psi</td><td>Planning scene interface reference </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8cpp_source.html#l00012">12</a> of file <a class="el" href="position__condition_8cpp_source.html">position_condition.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a042c6ac7a28051aa0491058557985c1d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a042c6ac7a28051aa0491058557985c1d">◆ </a></span>obj_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 PositionCondition::obj_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>Object name. </p>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8h_source.html#l00052">52</a> of file <a class="el" href="position__condition_8h_source.html">position_condition.h</a>.</p>
+
+</div>
+</div>
+<a id="af8910f64e26617d23e971c29c127a88e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8910f64e26617d23e971c29c127a88e">◆ </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">moveit::planning_interface::PlanningSceneInterface* PositionCondition::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>PSI. </p>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8h_source.html#l00053">53</a> of file <a class="el" href="position__condition_8h_source.html">position_condition.h</a>.</p>
+
+</div>
+</div>
+<a id="a5aef5e00f9dfa8fc3b80bc1fa86b358e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5aef5e00f9dfa8fc3b80bc1fa86b358e">◆ </a></span>start_pos_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Vector3 PositionCondition::start_pos_</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>Start position. </p>
+
+<p class="definition">Definition at line <a class="el" href="position__condition_8h_source.html#l00054">54</a> of file <a class="el" href="position__condition_8h_source.html">position_condition.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="position__condition_8h_source.html">position_condition.h</a></li>
+<li><a class="el" href="position__condition_8cpp_source.html">position_condition.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 Mon Mar 27 2023 19:07:14</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>
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-<body onload='searchBox.OnSelectItem(0);'>
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-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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-/* @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
deleted file mode 100644
index d0deeb916099628987fc9a1da40b55cd3583b0aa..0000000000000000000000000000000000000000
--- a/doc/html/classRobot.html
+++ /dev/null
@@ -1,619 +0,0 @@
-<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/classRobotReader-members.html b/doc/html/classRobotReader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..ea4efdb7a427e0d29bb043718deb44d21a41ef3b
--- /dev/null
+++ b/doc/html/classRobotReader-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">RobotReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classRobotReader.html">RobotReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">read</a>() override</td><td class="entry"><a class="el" href="classRobotReader.html">RobotReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">robot_data_</a></td><td class="entry"><a class="el" href="classRobotReader.html">RobotReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">robotData</a>()</td><td class="entry"><a class="el" href="classRobotReader.html">RobotReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRobotReader.html#a9e0259fb4a4d4a0e708cbac2f07baf7d">RobotReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classRobotReader.html">RobotReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRobotReader.html#a6a37901b3e94eb461e7b16ed775be141">setRobotData</a>(std::vector< object_data > &robot_data)</td><td class="entry"><a class="el" href="classRobotReader.html">RobotReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRobotReader.html b/doc/html/classRobotReader.html
new file mode 100644
index 0000000000000000000000000000000000000000..a595e67dfd493c1ecaaca7b93a0bd60de4f107ec
--- /dev/null
+++ b/doc/html/classRobotReader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: RobotReader 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="classRobotReader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">RobotReader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Robot reader.
+ <a href="classRobotReader.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 RobotReader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classRobotReader__inherit__graph.png" border="0" usemap="#RobotReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="RobotReader_inherit__map" id="RobotReader_inherit__map">
+<area shape="rect" title="Robot reader." alt="" coords="34,80,141,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</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:aba15c6226bea558917c26490d5321690"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">read</a> () override</td></tr>
+<tr class="memdesc:aba15c6226bea558917c26490d5321690"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classRobotReader.html#aba15c6226bea558917c26490d5321690">More...</a><br /></td></tr>
+<tr class="separator:aba15c6226bea558917c26490d5321690"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d52ecf97c0192307cc340203c29a036"><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="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">robotData</a> ()</td></tr>
+<tr class="memdesc:a4d52ecf97c0192307cc340203c29a036"><td class="mdescLeft"> </td><td class="mdescRight">Get robot data. <a href="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">More...</a><br /></td></tr>
+<tr class="separator:a4d52ecf97c0192307cc340203c29a036"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a9e0259fb4a4d4a0e708cbac2f07baf7d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotReader.html#a9e0259fb4a4d4a0e708cbac2f07baf7d">RobotReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a9e0259fb4a4d4a0e708cbac2f07baf7d"><td class="mdescLeft"> </td><td class="mdescRight">Robot reader constructor. <a href="classRobotReader.html#a9e0259fb4a4d4a0e708cbac2f07baf7d">More...</a><br /></td></tr>
+<tr class="separator:a9e0259fb4a4d4a0e708cbac2f07baf7d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6a37901b3e94eb461e7b16ed775be141"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotReader.html#a6a37901b3e94eb461e7b16ed775be141">setRobotData</a> (std::vector< <a class="el" href="structobject__data.html">object_data</a> > &robot_data)</td></tr>
+<tr class="memdesc:a6a37901b3e94eb461e7b16ed775be141"><td class="mdescLeft"> </td><td class="mdescRight">Set robot data. <a href="classRobotReader.html#a6a37901b3e94eb461e7b16ed775be141">More...</a><br /></td></tr>
+<tr class="separator:a6a37901b3e94eb461e7b16ed775be141"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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:af6ebed9f2bdc96aa0c786ad308e1bb22"><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="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">robot_data_</a></td></tr>
+<tr class="memdesc:af6ebed9f2bdc96aa0c786ad308e1bb22"><td class="mdescLeft"> </td><td class="mdescRight">Map of <a class="el" href="structobject__data.html" title="Object data.">object_data</a> to robot. <a href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">More...</a><br /></td></tr>
+<tr class="separator:af6ebed9f2bdc96aa0c786ad308e1bb22"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Robot 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="a9e0259fb4a4d4a0e708cbac2f07baf7d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e0259fb4a4d4a0e708cbac2f07baf7d">◆ </a></span>RobotReader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">RobotReader::RobotReader </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>Robot reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classRobotReader.html#aba15c6226bea558917c26490d5321690" 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="aba15c6226bea558917c26490d5321690"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba15c6226bea558917c26490d5321690">◆ </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 RobotReader::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="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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="a4d52ecf97c0192307cc340203c29a036"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d52ecf97c0192307cc340203c29a036">◆ </a></span>robotData()</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>> RobotReader::robotData </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="a6a37901b3e94eb461e7b16ed775be141"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a37901b3e94eb461e7b16ed775be141">◆ </a></span>setRobotData()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void RobotReader::setRobotData </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="af6ebed9f2bdc96aa0c786ad308e1bb22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6ebed9f2bdc96aa0c786ad308e1bb22">◆ </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>> RobotReader::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" title="Object data.">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRobotReader__inherit__graph.map b/doc/html/classRobotReader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..1663dd9356424f5502a279edf20fa7799df68008
--- /dev/null
+++ b/doc/html/classRobotReader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="RobotReader" name="RobotReader">
+<area shape="rect" id="node1" title="Robot reader." alt="" coords="34,80,141,107"/>
+<area shape="rect" id="node2" href="$classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</map>
diff --git a/doc/html/classRobotReader__inherit__graph.md5 b/doc/html/classRobotReader__inherit__graph.md5
new file mode 100644
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--- /dev/null
+++ b/doc/html/classRobotReader__inherit__graph.md5
@@ -0,0 +1 @@
+362855599bc91739db97f66979ba9e8b
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diff --git a/doc/html/classRobotReader__inherit__graph.png b/doc/html/classRobotReader__inherit__graph.png
new file mode 100644
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diff --git a/doc/html/classRobot__inherit__graph.map b/doc/html/classRobot__inherit__graph.map
deleted file mode 100644
index 66de339bda9598f2a5c81d4b6a1c3062d87f76ba..0000000000000000000000000000000000000000
--- a/doc/html/classRobot__inherit__graph.map
+++ /dev/null
@@ -1,5 +0,0 @@
-<map id="Robot" name="Robot">
-<area shape="rect" id="node1" title=" " alt="" coords="34,80,94,107"/>
-<area shape="rect" id="node3" href="$classMoveit__robot.html" title=" " alt="" coords="10,155,118,181"/>
-<area shape="rect" id="node2" href="$classAbstract__robot.html" title=" " alt="" coords="5,5,123,32"/>
-</map>
diff --git a/doc/html/classRobot__inherit__graph.md5 b/doc/html/classRobot__inherit__graph.md5
deleted file mode 100644
index 259fe21df92a8b18be45b41d650728e0cdf487b5..0000000000000000000000000000000000000000
--- a/doc/html/classRobot__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-4540e6148b48d5e5ecfa06e3670199db
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diff --git a/doc/html/classRobot__inherit__graph.png b/doc/html/classRobot__inherit__graph.png
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index aa4ed2ed84593f953b4e2fad7aacb74031e8e37c..0000000000000000000000000000000000000000
Binary files a/doc/html/classRobot__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classRobot__reader-members.html b/doc/html/classRobot__reader-members.html
deleted file mode 100644
index 47856732780b8be5eb7136d49e2fdd3339a23e15..0000000000000000000000000000000000000000
--- a/doc/html/classRobot__reader-members.html
+++ /dev/null
@@ -1,44 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</title>
-<link href="doxygen.css" rel="stylesheet" type="text/css">
-<link href="tabs.css" rel="stylesheet" type="text/css">
-<script type="text/javascript" src="jquery.js"></script>
-</head>
-<body onload='searchBox.OnSelectItem(0);'>
-<!-- Generated by Doxygen 1.8.17 -->
-<script type="text/javascript" src="menudata.js"></script>
-<script type="text/javascript" src="menu.js"></script>
-<script type="text/javascript">
-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
-$(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
deleted file mode 100644
index 752b41676feea726a318ec4b225f10730a8f5de5..0000000000000000000000000000000000000000
--- a/doc/html/classRobot__reader.html
+++ /dev/null
@@ -1,255 +0,0 @@
-<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
deleted file mode 100644
index d5def08199f2abb2947a2b4250f3ffb15044b19e..0000000000000000000000000000000000000000
--- a/doc/html/classRobot__reader__inherit__graph.map
+++ /dev/null
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-</map>
diff --git a/doc/html/classRobot__reader__inherit__graph.md5 b/doc/html/classRobot__reader__inherit__graph.md5
deleted file mode 100644
index 408769b26250b0eb551fa51695d2450b6895c1c1..0000000000000000000000000000000000000000
--- a/doc/html/classRobot__reader__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-d59102655c58f5ba25ff30726a71e839
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diff --git a/doc/html/classRobot__reader__inherit__graph.png b/doc/html/classRobot__reader__inherit__graph.png
deleted file mode 100644
index b503d84e486709b472185d2605366e3bfde773eb..0000000000000000000000000000000000000000
Binary files a/doc/html/classRobot__reader__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classRvizPanel-members.html b/doc/html/classRvizPanel-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..e2c19871a4c7ddc9bc0750506a1955d972a3211c
--- /dev/null
+++ b/doc/html/classRvizPanel-members.html
@@ -0,0 +1,57 @@
+<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">RvizPanel Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classRvizPanel.html">RvizPanel</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a>(tf2::Transform tf, std::string name, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><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 class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a>()</td><td class="entry"><a class="el" href="classRvizPanel.html">RvizPanel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a></td><td class="entry"><a class="el" href="classRvizPanel.html">RvizPanel</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="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a>()</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classRvizPanel.html">RvizPanel</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</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="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a>(tf2::Transform tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</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="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a>(tf2::Transform &tf)</td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</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="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">update</a>(tf2::Transform &tf) override</td><td class="entry"><a class="el" href="classRvizPanel.html">RvizPanel</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</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>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRvizPanel.html b/doc/html/classRvizPanel.html
new file mode 100644
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--- /dev/null
+++ b/doc/html/classRvizPanel.html
@@ -0,0 +1,228 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: RvizPanel 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="classRvizPanel-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">RvizPanel 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 RvizPanel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classRvizPanel__inherit__graph.png" border="0" usemap="#RvizPanel_inherit__map" alt="Inheritance graph"/></div>
+<map name="RvizPanel_inherit__map" id="RvizPanel_inherit__map">
+<area shape="rect" title=" " alt="" coords="46,155,133,181"/>
+<area shape="rect" href="classPanel.html" title=" " alt="" coords="60,80,119,107"/>
+<area shape="rect" href="classAbstractRobotElement.html" title=" " alt="" coords="5,5,173,32"/>
+</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:a0bdbda591a566ca44cc8f61d89011c22"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker & </td><td class="memItemRight" valign="bottom"><a class="el" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a> ()</td></tr>
+<tr class="separator:a0bdbda591a566ca44cc8f61d89011c22"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0bfb2b948c121c007a549c6ce001383d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel</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:a0bfb2b948c121c007a549c6ce001383d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afc044865a22941c0d353b1ad9bdf46b9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">update</a> (tf2::Transform &tf) override</td></tr>
+<tr class="separator:afc044865a22941c0d353b1ad9bdf46b9"><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:a23fa1c5f2f3ea42d342d7db2dbba2a6e inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</a> (std::string str)</td></tr>
+<tr class="separator:a23fa1c5f2f3ea42d342d7db2dbba2a6e inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a337d9bf9cd3a43f2f3963b6dda5548c0 inherit pub_methods_classPanel"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</a> (tf2::Vector3 &vec)</td></tr>
+<tr class="separator:a337d9bf9cd3a43f2f3963b6dda5548c0 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:a992ba04d68b9a3c718fe69a88cd7ec03 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#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</a> () override</td></tr>
+<tr class="separator:a992ba04d68b9a3c718fe69a88cd7ec03 inherit pub_methods_classPanel"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</a> (tf2::Transform tf, std::string <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">name</a>, tf2::Vector3 <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">size</a>)</td></tr>
+<tr class="separator:aade8e84adb9ccb5feb0bd55feba55f73 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:a41e8e3dd3386f5716db3c81b747a3ac7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">relativeTf</a> ()</td></tr>
+<tr class="separator:a4896ae0424f9bee2c63a6eb65130e8c7 inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">setRelativeTf</a> (tf2::Transform tf)</td></tr>
+<tr class="separator:a43dc533037cf056a95933c2a3230292e inherit pub_methods_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">setWorldTf</a> (tf2::Transform &tf)</td></tr>
+<tr class="separator:aa5f10ad3b5236b38209e94ed944e40d5 inherit pub_methods_classAbstractRobotElement"><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:acb11a187bf561058d60ca2e690fbef9b"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker </td><td class="memItemRight" valign="bottom"><a class="el" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a></td></tr>
+<tr class="separator:acb11a187bf561058d60ca2e690fbef9b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobotElement"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotElement')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotElement.html">AbstractRobotElement</a></td></tr>
+<tr class="memitem:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a></td></tr>
+<tr class="separator:a4e3e116bb96a12ad44e0fa7464213c7e inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a></td></tr>
+<tr class="separator:a48a10e0425bb56cabf0dad275976bb76 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">relative_tf_</a></td></tr>
+<tr class="separator:a66a61ffcb4096fbf1a964b035a38798f inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a></td></tr>
+<tr class="separator:ad9e7fd0d535253799855ad42f9ed7a52 inherit pro_attribs_classAbstractRobotElement"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a></td></tr>
+<tr class="separator:a1304c7308731251e789ccfb9368a61f9 inherit pro_attribs_classAbstractRobotElement"><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="a0bfb2b948c121c007a549c6ce001383d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bfb2b948c121c007a549c6ce001383d">◆ </a></span>RvizPanel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">RvizPanel::RvizPanel </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="a0bdbda591a566ca44cc8f61d89011c22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bdbda591a566ca44cc8f61d89011c22">◆ </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& RvizPanel::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="afc044865a22941c0d353b1ad9bdf46b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc044865a22941c0d353b1ad9bdf46b9">◆ </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 RvizPanel::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="acb11a187bf561058d60ca2e690fbef9b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb11a187bf561058d60ca2e690fbef9b">◆ </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 RvizPanel::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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classRvizPanel__inherit__graph.map b/doc/html/classRvizPanel__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..660092dd3caf8c22fbf113d86ea5dd0c6a38b060
--- /dev/null
+++ b/doc/html/classRvizPanel__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="RvizPanel" name="RvizPanel">
+<area shape="rect" id="node1" title=" " alt="" coords="46,155,133,181"/>
+<area shape="rect" id="node2" href="$classPanel.html" title=" " alt="" coords="60,80,119,107"/>
+<area shape="rect" id="node3" href="$classAbstractRobotElement.html" title=" " alt="" coords="5,5,173,32"/>
+</map>
diff --git a/doc/html/classRvizPanel__inherit__graph.md5 b/doc/html/classRvizPanel__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..352ac13967c6317007cfe511ae2035451a8c051a
--- /dev/null
+++ b/doc/html/classRvizPanel__inherit__graph.md5
@@ -0,0 +1 @@
+c3c5b2fb6e12d8bee25efd9d443d00e1
\ No newline at end of file
diff --git a/doc/html/classRvizPanel__inherit__graph.png b/doc/html/classRvizPanel__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..5245c94960a083ca0f266a7f4f150098a5d7752e
Binary files /dev/null and b/doc/html/classRvizPanel__inherit__graph.png differ
diff --git a/doc/html/classRviz__panel-members.html b/doc/html/classRviz__panel-members.html
deleted file mode 100644
index 1ee728bde841fa7c5d422179ca42c16686c25108..0000000000000000000000000000000000000000
--- a/doc/html/classRviz__panel-members.html
+++ /dev/null
@@ -1,62 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</title>
-<link href="doxygen.css" rel="stylesheet" type="text/css">
-<link href="tabs.css" rel="stylesheet" type="text/css">
-<script type="text/javascript" src="jquery.js"></script>
-</head>
-<body onload='searchBox.OnSelectItem(0);'>
-<!-- Generated by Doxygen 1.8.17 -->
-<script type="text/javascript" src="menudata.js"></script>
-<script type="text/javascript" src="menu.js"></script>
-<script type="text/javascript">
-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
-$(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
deleted file mode 100644
index 730b12f1a635c980f68e8838a318998dab9883bd..0000000000000000000000000000000000000000
--- a/doc/html/classRviz__panel.html
+++ /dev/null
@@ -1,240 +0,0 @@
-<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
deleted file mode 100644
index b3fc17e39754feb9665a717a8bfb10298ef6a077..0000000000000000000000000000000000000000
--- a/doc/html/classRviz__panel__inherit__graph.map
+++ /dev/null
@@ -1,5 +0,0 @@
-<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="$classAbstract__robot__element.html" title=" " alt="" coords="5,5,184,32"/>
-</map>
diff --git a/doc/html/classRviz__panel__inherit__graph.md5 b/doc/html/classRviz__panel__inherit__graph.md5
deleted file mode 100644
index d97d2799bc182f3e4a5f1ff00e74710a47770c9c..0000000000000000000000000000000000000000
--- a/doc/html/classRviz__panel__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-c69b79aece179193b98a2d6f32c357ca
\ No newline at end of file
diff --git a/doc/html/classRviz__panel__inherit__graph.png b/doc/html/classRviz__panel__inherit__graph.png
deleted file mode 100644
index cc760e9f6c5c19fc7b5f14ac0f1a24845039e794..0000000000000000000000000000000000000000
Binary files a/doc/html/classRviz__panel__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classSimpleBase-members.html b/doc/html/classSimpleBase-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..3fd97f08d5965f632cdac7d78a0c9d90ef0e6ff9
--- /dev/null
+++ b/doc/html/classSimpleBase-members.html
@@ -0,0 +1,61 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">SimpleBase Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSimpleBase.html">SimpleBase</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a>(std::shared_ptr< ros::NodeHandle > const &nh)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">baseCalculation</a>() override</td><td class="entry"><a class="el" href="classSimpleBase.html">SimpleBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">createPCLBox</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">invMap</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">map_reader_</a></td><td class="entry"><a class="el" href="classSimpleBase.html">SimpleBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">nh_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">setImplementation</a>(std::shared_ptr< AbstractBaseImplementation > implementation)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">setInvMap</a>(std::vector< tf2::Transform > &inv_map)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">setMap</a>(std::vector< tf2::Transform > &map)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">setResult</a>(std::map< const std::string, std::vector< pcl::PointXYZ >> &result)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">setTargetCloud</a>(std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">setTaskSpace</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="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classSimpleBase.html">SimpleBase</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">targetCloud</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a></td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d">task_space_reader_</a></td><td class="entry"><a class="el" href="classSimpleBase.html">SimpleBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">taskSpace</a>()</td><td class="entry"><a class="el" href="classAbstractBase.html">AbstractBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classSimpleBase.html b/doc/html/classSimpleBase.html
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+++ b/doc/html/classSimpleBase.html
@@ -0,0 +1,253 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: SimpleBase 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="classSimpleBase-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">SimpleBase Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a>.
+ <a href="classSimpleBase.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 SimpleBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSimpleBase__inherit__graph.png" border="0" usemap="#SimpleBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="SimpleBase_inherit__map" id="SimpleBase_inherit__map">
+<area shape="rect" title="SimpleBase as refinement of AbstractBase." alt="" coords="10,80,109,107"/>
+<area shape="rect" href="classAbstractBase.html" title="AbstractBaseClass." alt="" coords="5,5,113,32"/>
+</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:aa68fcc1f705cf2672fb85d311315e9fc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">baseCalculation</a> () override</td></tr>
+<tr class="memdesc:aa68fcc1f705cf2672fb85d311315e9fc"><td class="mdescLeft"> </td><td class="mdescRight">refined Template methode <a href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">More...</a><br /></td></tr>
+<tr class="separator:aa68fcc1f705cf2672fb85d311315e9fc"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7d5fa1a8181044fafc02b414720bca1b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a7d5fa1a8181044fafc02b414720bca1b"><td class="mdescLeft"> </td><td class="mdescRight">Simple base constructor. <a href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">More...</a><br /></td></tr>
+<tr class="separator:a7d5fa1a8181044fafc02b414720bca1b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractBase')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractBase.html">AbstractBase</a></td></tr>
+<tr class="memitem:a1458e9649f0b5648ddb21c7bcbbf64d1 inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a> (std::shared_ptr< ros::NodeHandle > const &nh)</td></tr>
+<tr class="memdesc:a1458e9649f0b5648ddb21c7bcbbf64d1 inherit pub_methods_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">constructor <a href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">More...</a><br /></td></tr>
+<tr class="separator:a1458e9649f0b5648ddb21c7bcbbf64d1 inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aca91c42c8d4ca13f51025de8e4c5d330 inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a> ()</td></tr>
+<tr class="separator:aca91c42c8d4ca13f51025de8e4c5d330 inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6beb9d8d621b1f931d8e7dfd8033147f inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">invMap</a> ()</td></tr>
+<tr class="separator:a6beb9d8d621b1f931d8e7dfd8033147f inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6bdc2aa838420f10ef770462a7b3c9be inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a> ()</td></tr>
+<tr class="separator:a6bdc2aa838420f10ef770462a7b3c9be inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aeacda40d37c21c372f852aff0ebcef1d inherit pub_methods_classAbstractBase"><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="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a> ()</td></tr>
+<tr class="separator:aeacda40d37c21c372f852aff0ebcef1d inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0680387079016eb6900dfa8cbd9f2820 inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">setImplementation</a> (std::shared_ptr< <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> > <a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">implementation</a>)</td></tr>
+<tr class="separator:a0680387079016eb6900dfa8cbd9f2820 inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a75f9729d34f483b2174f127305fa0968 inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">setInvMap</a> (std::vector< tf2::Transform > &inv_map)</td></tr>
+<tr class="separator:a75f9729d34f483b2174f127305fa0968 inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a86e2a8c1150c3aaec3b70d148e3611c2 inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">setMap</a> (std::vector< tf2::Transform > &<a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">map</a>)</td></tr>
+<tr class="separator:a86e2a8c1150c3aaec3b70d148e3611c2 inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae4b06c34ce6ad789c3db35dbc072d59e inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">setResult</a> (std::map< const std::string, std::vector< pcl::PointXYZ >> &<a class="el" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">result</a>)</td></tr>
+<tr class="separator:ae4b06c34ce6ad789c3db35dbc072d59e inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6f798cb5806247f4549efab45596797d inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">setTargetCloud</a> (std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &cloud)</td></tr>
+<tr class="separator:a6f798cb5806247f4549efab45596797d inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a129121e9e3ea6a57d6f0c05938050deb inherit pub_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">setTaskSpace</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="separator:a129121e9e3ea6a57d6f0c05938050deb inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a57ddd9cadb2301b86055c5c321acb390 inherit pub_methods_classAbstractBase"><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="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">targetCloud</a> ()</td></tr>
+<tr class="separator:a57ddd9cadb2301b86055c5c321acb390 inherit pub_methods_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a92098cb30708dcaf486f0215f290b58f inherit pub_methods_classAbstractBase"><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="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">taskSpace</a> ()</td></tr>
+<tr class="separator:a92098cb30708dcaf486f0215f290b58f inherit pub_methods_classAbstractBase"><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:a5c645a035d9ad25bd59687dafbafeb8d"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classMapReader.html">MapReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">map_reader_</a></td></tr>
+<tr class="separator:a5c645a035d9ad25bd59687dafbafeb8d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a20f8a0f1ab5aae0aea912c1ffea6019d"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classTSReader.html">TSReader</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d">task_space_reader_</a></td></tr>
+<tr class="separator:a20f8a0f1ab5aae0aea912c1ffea6019d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractBase')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractBase.html">AbstractBase</a></td></tr>
+<tr class="memitem:aabdd4fed67cfd7af450c01ea3f807f5d inherit pro_attribs_classAbstractBase"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a></td></tr>
+<tr class="memdesc:aabdd4fed67cfd7af450c01ea3f807f5d inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">refined implementation <a href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">More...</a><br /></td></tr>
+<tr class="separator:aabdd4fed67cfd7af450c01ea3f807f5d inherit pro_attribs_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4d7b577f01558c9cc6bd773785980ed2 inherit pro_attribs_classAbstractBase"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a></td></tr>
+<tr class="memdesc:a4d7b577f01558c9cc6bd773785980ed2 inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">InverseReachabilityMap structure (Zacharias) <a href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">More...</a><br /></td></tr>
+<tr class="separator:a4d7b577f01558c9cc6bd773785980ed2 inherit pro_attribs_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a448dc5bc37511aba7c74fe3816ee12f3 inherit pro_attribs_classAbstractBase"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a></td></tr>
+<tr class="memdesc:a448dc5bc37511aba7c74fe3816ee12f3 inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">ReachabilityMap structure (Zacharias) <a href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">More...</a><br /></td></tr>
+<tr class="separator:a448dc5bc37511aba7c74fe3816ee12f3 inherit pro_attribs_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a33cd7973db1e3e56909190ff1b0b7865 inherit pro_attribs_classAbstractBase"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">nh_</a></td></tr>
+<tr class="memdesc:a33cd7973db1e3e56909190ff1b0b7865 inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">Nodehandle for access to the Rosparam server. <a href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">More...</a><br /></td></tr>
+<tr class="separator:a33cd7973db1e3e56909190ff1b0b7865 inherit pro_attribs_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a97cc32b484ddbe12765c7fcba6860b85 inherit pro_attribs_classAbstractBase"><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="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a></td></tr>
+<tr class="memdesc:a97cc32b484ddbe12765c7fcba6860b85 inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">Result basepositions, mapped to robot. <a href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">More...</a><br /></td></tr>
+<tr class="separator:a97cc32b484ddbe12765c7fcba6860b85 inherit pro_attribs_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3f32391c670c3ce6d2e8e1506b6fdee9 inherit pro_attribs_classAbstractBase"><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="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a></td></tr>
+<tr class="memdesc:a3f32391c670c3ce6d2e8e1506b6fdee9 inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">Pointcloud structure, mapped to robot. <a href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">More...</a><br /></td></tr>
+<tr class="separator:a3f32391c670c3ce6d2e8e1506b6fdee9 inherit pro_attribs_classAbstractBase"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a37a6df1710f8fc49e933bfb40a0e5833 inherit pro_attribs_classAbstractBase"><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="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a></td></tr>
+<tr class="memdesc:a37a6df1710f8fc49e933bfb40a0e5833 inherit pro_attribs_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">Drop-off locations with their grasp orientations, mapped to a robot. <a href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">More...</a><br /></td></tr>
+<tr class="separator:a37a6df1710f8fc49e933bfb40a0e5833 inherit pro_attribs_classAbstractBase"><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_classAbstractBase"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classAbstractBase')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classAbstractBase.html">AbstractBase</a></td></tr>
+<tr class="memitem:a5b533569dfc28bac7fa8b535e57e81db inherit pub_static_methods_classAbstractBase"><td class="memItemLeft" align="right" valign="top">static std::vector< pcl::PointXYZ > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">createPCLBox</a> ()</td></tr>
+<tr class="memdesc:a5b533569dfc28bac7fa8b535e57e81db inherit pub_static_methods_classAbstractBase"><td class="mdescLeft"> </td><td class="mdescRight">createPCLBox box <a href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">More...</a><br /></td></tr>
+<tr class="separator:a5b533569dfc28bac7fa8b535e57e81db inherit pub_static_methods_classAbstractBase"><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="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a>. </p>
+<p>A simple refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a> where concept variables are set by reader instances instead of being computed. </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8h_source.html#l00024">24</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="a7d5fa1a8181044fafc02b414720bca1b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d5fa1a8181044fafc02b414720bca1b">◆ </a></span>SimpleBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">SimpleBase::SimpleBase </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 paramserver </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="aa68fcc1f705cf2672fb85d311315e9fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa68fcc1f705cf2672fb85d311315e9fc">◆ </a></span>baseCalculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void SimpleBase::baseCalculation </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="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">AbstractBase</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>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a5c645a035d9ad25bd59687dafbafeb8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c645a035d9ad25bd59687dafbafeb8d">◆ </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="classMapReader.html">MapReader</a>> SimpleBase::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 instance </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base_8h_source.html#l00027">27</a> of file <a class="el" href="simple__base_8h_source.html">simple_base.h</a>.</p>
+
+</div>
+</div>
+<a id="a20f8a0f1ab5aae0aea912c1ffea6019d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20f8a0f1ab5aae0aea912c1ffea6019d">◆ </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="classTSReader.html">TSReader</a>> SimpleBase::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 instance </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>
+</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classSimpleBaseImplementation-members.html b/doc/html/classSimpleBaseImplementation-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..a7435bc0c97717549cb677077cc08ba0570864b6
--- /dev/null
+++ b/doc/html/classSimpleBaseImplementation-members.html
@@ -0,0 +1,43 @@
+<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">SimpleBaseImplementation Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSimpleBaseImplementation.html">SimpleBaseImplementation</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation</a>()=default</td><td class="entry"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">cloudCalculation</a>(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</td><td class="entry"><a class="el" href="classSimpleBaseImplementation.html">SimpleBaseImplementation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">invMapCreation</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="classSimpleBaseImplementation.html">SimpleBaseImplementation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">setGraspOrientations</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="classSimpleBaseImplementation.html">SimpleBaseImplementation</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classSimpleBaseImplementation.html#ae0ebda1d0ec6d77eec3a48c99b3ede2d">SimpleBaseImplementation</a>()=default</td><td class="entry"><a class="el" href="classSimpleBaseImplementation.html">SimpleBaseImplementation</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">~AbstractBaseImplementation</a>()=default</td><td class="entry"><a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classSimpleBaseImplementation.html#abef728d9bb7d66be54f1350dc8196e94">~SimpleBaseImplementation</a>()=default</td><td class="entry"><a class="el" href="classSimpleBaseImplementation.html">SimpleBaseImplementation</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classSimpleBaseImplementation.html b/doc/html/classSimpleBaseImplementation.html
new file mode 100644
index 0000000000000000000000000000000000000000..c23660798bcb0bcd06d850f88d4da459b9a48b1c
--- /dev/null
+++ b/doc/html/classSimpleBaseImplementation.html
@@ -0,0 +1,281 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: SimpleBaseImplementation 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="classSimpleBaseImplementation-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">SimpleBaseImplementation Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a>.
+ <a href="classSimpleBaseImplementation.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 SimpleBaseImplementation:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSimpleBaseImplementation__inherit__graph.png" border="0" usemap="#SimpleBaseImplementation_inherit__map" alt="Inheritance graph"/></div>
+<map name="SimpleBaseImplementation_inherit__map" id="SimpleBaseImplementation_inherit__map">
+<area shape="rect" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation." alt="" coords="10,80,213,107"/>
+<area shape="rect" href="classAbstractBaseImplementation.html" title="Abstract base implementation." alt="" coords="5,5,217,32"/>
+</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:a50b685cbb8945c3bb10797395f736fa4"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">cloudCalculation</a> (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, std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> &target_cloud) override</td></tr>
+<tr class="memdesc:a50b685cbb8945c3bb10797395f736fa4"><td class="mdescLeft"> </td><td class="mdescRight">PCL Cloud calculation for every Object. <a href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">More...</a><br /></td></tr>
+<tr class="separator:a50b685cbb8945c3bb10797395f736fa4"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa61dd8b1ab3813801598e691f08c1764"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">invMapCreation</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:aa61dd8b1ab3813801598e691f08c1764"><td class="mdescLeft"> </td><td class="mdescRight">Create inversed reachability map. <a href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">More...</a><br /></td></tr>
+<tr class="separator:aa61dd8b1ab3813801598e691f08c1764"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a01ed078d57af3369aa62821d05c80793"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">setGraspOrientations</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:a01ed078d57af3369aa62821d05c80793"><td class="mdescLeft"> </td><td class="mdescRight">Store grasp orientations as endeffector transforms. <a href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">More...</a><br /></td></tr>
+<tr class="separator:a01ed078d57af3369aa62821d05c80793"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae0ebda1d0ec6d77eec3a48c99b3ede2d"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBaseImplementation.html#ae0ebda1d0ec6d77eec3a48c99b3ede2d">SimpleBaseImplementation</a> ()=default</td></tr>
+<tr class="separator:ae0ebda1d0ec6d77eec3a48c99b3ede2d"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abef728d9bb7d66be54f1350dc8196e94"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBaseImplementation.html#abef728d9bb7d66be54f1350dc8196e94">~SimpleBaseImplementation</a> ()=default</td></tr>
+<tr class="separator:abef728d9bb7d66be54f1350dc8196e94"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractBaseImplementation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractBaseImplementation')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></td></tr>
+<tr class="memitem:a5fa7fc17adff1ffa369ba838e84105cd inherit pub_methods_classAbstractBaseImplementation"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation</a> ()=default</td></tr>
+<tr class="separator:a5fa7fc17adff1ffa369ba838e84105cd inherit pub_methods_classAbstractBaseImplementation"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:abb5172709cdc196c327e54e1d7b7b685 inherit pub_methods_classAbstractBaseImplementation"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">~AbstractBaseImplementation</a> ()=default</td></tr>
+<tr class="separator:abb5172709cdc196c327e54e1d7b7b685 inherit pub_methods_classAbstractBaseImplementation"><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="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a>. </p>
+<p>general approach to the calculation of the base, in which the orientations of the objects are considered to be equivalent </p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base__implementation_8h_source.html#l00013">13</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="ae0ebda1d0ec6d77eec3a48c99b3ede2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0ebda1d0ec6d77eec3a48c99b3ede2d">◆ </a></span>SimpleBaseImplementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">SimpleBaseImplementation::SimpleBaseImplementation </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="abef728d9bb7d66be54f1350dc8196e94"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abef728d9bb7d66be54f1350dc8196e94">◆ </a></span>~SimpleBaseImplementation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">SimpleBaseImplementation::~SimpleBaseImplementation </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="a50b685cbb8945c3bb10797395f736fa4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50b685cbb8945c3bb10797395f736fa4">◆ </a></span>cloudCalculation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void SimpleBaseImplementation::cloudCalculation </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 class="paramkey"></td>
+ <td></td>
+ <td class="paramtype">std::map< const std::string, std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr >> & </td>
+ <td class="paramname"><em>target_cloud</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>PCL Cloud calculation for every Object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">var</td><td>store cload data in proper map </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p>Implements <a class="el" href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">AbstractBaseImplementation</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="simple__base__implementation_8cpp_source.html#l00035">35</a> of file <a class="el" href="simple__base__implementation_8cpp_source.html">simple_base_implementation.cpp</a>.</p>
+
+</div>
+</div>
+<a id="aa61dd8b1ab3813801598e691f08c1764"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa61dd8b1ab3813801598e691f08c1764">◆ </a></span>invMapCreation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void SimpleBaseImplementation::invMapCreation </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="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">AbstractBaseImplementation</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="a01ed078d57af3369aa62821d05c80793"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01ed078d57af3369aa62821d05c80793">◆ </a></span>setGraspOrientations()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void SimpleBaseImplementation::setGraspOrientations </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="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">AbstractBaseImplementation</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+++ /dev/null
@@ -1,59 +0,0 @@
-<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 */
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-/* @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
deleted file mode 100644
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+++ /dev/null
@@ -1,297 +0,0 @@
-<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 -->
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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>
-<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
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-<p><code>#include <<a class="el" href="simple__base_8h_source.html">simple_base.h</a>></code></p>
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-Inheritance diagram for Simple_base:</div>
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-<div class="center"><img src="classSimple__base__inherit__graph.png" border="0" usemap="#Simple__base_inherit__map" alt="Inheritance graph"/></div>
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-<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"/>
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-<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>
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- <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>
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-<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>
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-</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>
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- <table class="memname">
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- <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>
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-<a id="a095701db18bbccae201b96121b962e81"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a095701db18bbccae201b96121b962e81">◆ </a></span>write_task()</h2>
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- <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">
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-<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>
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- <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>
-
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- <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>
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-</body>
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diff --git a/doc/html/classSimple__base__implementation-members.html b/doc/html/classSimple__base__implementation-members.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>
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-<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
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-<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">
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-<div class="header">
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-<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"/>
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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: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">
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- <td class="mlabels-left">
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- <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">
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- <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">
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- <table class="memname">
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- <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>
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-</div>
-</div>
-<a id="a58568c1809b8d1e7d6d66ce09c5f1974"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a58568c1809b8d1e7d6d66ce09c5f1974">◆ </a></span>set_grasp_orientations()</h2>
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- <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>
diff --git a/doc/html/classSimple__base__implementation__inherit__graph.map b/doc/html/classSimple__base__implementation__inherit__graph.map
deleted file mode 100644
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deleted file mode 100644
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deleted file mode 100644
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deleted file mode 100644
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diff --git a/doc/html/classTSReader-members.html b/doc/html/classTSReader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..99854f8b30088797b5624b2021d9afa537daacb2
--- /dev/null
+++ b/doc/html/classTSReader-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">TSReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTSReader.html">TSReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">drop_off_data_</a></td><td class="entry"><a class="el" href="classTSReader.html">TSReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">dropOffData</a>()</td><td class="entry"><a class="el" href="classTSReader.html">TSReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">read</a>() override</td><td class="entry"><a class="el" href="classTSReader.html">TSReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classTSReader.html#ada36eead572d86a77bc8fed723090079">setDropOffData</a>(std::map< const std::string, std::vector< object_data >> &dod)</td><td class="entry"><a class="el" href="classTSReader.html">TSReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">TSReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classTSReader.html">TSReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classTs__reader.html b/doc/html/classTSReader.html
similarity index 50%
rename from doc/html/classTs__reader.html
rename to doc/html/classTSReader.html
index f02968ea43e5c50fbdc200a2bb18ed95867ac00f..60027756818fcfb053529041623b3b26770370f1 100644
--- a/doc/html/classTs__reader.html
+++ b/doc/html/classTSReader.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Ts_reader Class Reference</title>
+<title>multi_cell_builder: TSReader 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>
@@ -20,57 +20,57 @@ $(function() {
<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>
+<a href="classTSReader-members.html">List of all members</a> </div>
<div class="headertitle">
-<div class="title">Ts_reader Class Reference</div> </div>
+<div class="title">TSReader Class Reference</div> </div>
</div><!--header-->
<div class="contents">
<p>TS reader.
- <a href="classTs__reader.html#details">More...</a></p>
+ <a href="classTSReader.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>
+Inheritance diagram for TSReader:</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"/>
+<div class="center"><img src="classTSReader__inherit__graph.png" border="0" usemap="#TSReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="TSReader_inherit__map" id="TSReader_inherit__map">
+<area shape="rect" title="TS reader." alt="" coords="45,80,129,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
</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>
+<tr class="memitem:a900b6a264baba5abf2ded18aac10c56f"><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="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">dropOffData</a> ()</td></tr>
+<tr class="memdesc:a900b6a264baba5abf2ded18aac10c56f"><td class="mdescLeft"> </td><td class="mdescRight">Get drop off data. <a href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">More...</a><br /></td></tr>
+<tr class="separator:a900b6a264baba5abf2ded18aac10c56f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a691b97a848c6418b7edb3640fbb89baf"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">read</a> () override</td></tr>
+<tr class="memdesc:a691b97a848c6418b7edb3640fbb89baf"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">More...</a><br /></td></tr>
+<tr class="separator:a691b97a848c6418b7edb3640fbb89baf"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ada36eead572d86a77bc8fed723090079"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classTSReader.html#ada36eead572d86a77bc8fed723090079">setDropOffData</a> (std::map< const std::string, std::vector< <a class="el" href="structobject__data.html">object_data</a> >> &dod)</td></tr>
+<tr class="memdesc:ada36eead572d86a77bc8fed723090079"><td class="mdescLeft"> </td><td class="mdescRight">Set drop off data. <a href="classTSReader.html#ada36eead572d86a77bc8fed723090079">More...</a><br /></td></tr>
+<tr class="separator:ada36eead572d86a77bc8fed723090079"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad0408bf815e6f25af09bea9f1546ebab"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">TSReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:ad0408bf815e6f25af09bea9f1546ebab"><td class="mdescLeft"> </td><td class="mdescRight">TS reader constructor. <a href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">More...</a><br /></td></tr>
+<tr class="separator:ad0408bf815e6f25af09bea9f1546ebab"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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>
+<tr class="memitem:aa6f2320c77b41da88e8f5c1e49cfb68c"><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="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">drop_off_data_</a></td></tr>
+<tr class="memdesc:aa6f2320c77b41da88e8f5c1e49cfb68c"><td class="mdescLeft"> </td><td class="mdescRight">Map of drop off data to robot. <a href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">More...</a><br /></td></tr>
+<tr class="separator:aa6f2320c77b41da88e8f5c1e49cfb68c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><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>
@@ -78,8 +78,8 @@ Protected Attributes</h2></td></tr>
<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>
+<a id="ad0408bf815e6f25af09bea9f1546ebab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0408bf815e6f25af09bea9f1546ebab">◆ </a></span>TSReader()</h2>
<div class="memitem">
<div class="memproto">
@@ -88,7 +88,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">Ts_reader::Ts_reader </td>
+ <td class="memname">TSReader::TSReader </td>
<td>(</td>
<td class="paramtype">std::shared_ptr< ros::NodeHandle > const & </td>
<td class="paramname"><em>d</em></td><td>)</td>
@@ -103,7 +103,7 @@ Protected Attributes</h2></td></tr>
</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>
+<p>Calls pure virtual <a class="el" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf" 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>
@@ -115,8 +115,8 @@ Protected Attributes</h2></td></tr>
</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>
+<a id="a900b6a264baba5abf2ded18aac10c56f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a900b6a264baba5abf2ded18aac10c56f">◆ </a></span>dropOffData()</h2>
<div class="memitem">
<div class="memproto">
@@ -125,7 +125,7 @@ Protected Attributes</h2></td></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 class="memname">std::map< const std::string, std::vector<<a class="el" href="structobject__data.html">object_data</a>> >& TSReader::dropOffData </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -145,8 +145,8 @@ Protected Attributes</h2></td></tr>
</div>
</div>
-<a id="a9b724ab02280e36e71b3ac5515f2fed3"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a9b724ab02280e36e71b3ac5515f2fed3">◆ </a></span>read()</h2>
+<a id="a691b97a848c6418b7edb3640fbb89baf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a691b97a848c6418b7edb3640fbb89baf">◆ </a></span>read()</h2>
<div class="memitem">
<div class="memproto">
@@ -155,7 +155,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Ts_reader::read </td>
+ <td class="memname">void TSReader::read </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
@@ -170,14 +170,14 @@ Protected Attributes</h2></td></tr>
<p>read implementatin </p>
-<p>Implements <a class="el" href="classAbstract__param__reader.html#a441ed47eee393cc772f19d4be923e34d">Abstract_param_reader</a>.</p>
+<p>Implements <a class="el" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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>
+<a id="ada36eead572d86a77bc8fed723090079"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada36eead572d86a77bc8fed723090079">◆ </a></span>setDropOffData()</h2>
<div class="memitem">
<div class="memproto">
@@ -186,7 +186,7 @@ Protected Attributes</h2></td></tr>
<td class="mlabels-left">
<table class="memname">
<tr>
- <td class="memname">void Ts_reader::set_drop_off_data </td>
+ <td class="memname">void TSReader::setDropOffData </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>
@@ -213,8 +213,8 @@ Protected Attributes</h2></td></tr>
</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>
+<a id="aa6f2320c77b41da88e8f5c1e49cfb68c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6f2320c77b41da88e8f5c1e49cfb68c">◆ </a></span>drop_off_data_</h2>
<div class="memitem">
<div class="memproto">
@@ -223,7 +223,7 @@ Protected Attributes</h2></td></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 class="memname">std::map<const std::string, std::vector<<a class="el" href="structobject__data.html">object_data</a>> > TSReader::drop_off_data_</td>
</tr>
</table>
</td>
@@ -249,7 +249,7 @@ Protected Attributes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classTSReader__inherit__graph.map b/doc/html/classTSReader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..bc78c46e8882220f4b3a3760c3d44c51a5373f52
--- /dev/null
+++ b/doc/html/classTSReader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="TSReader" name="TSReader">
+<area shape="rect" id="node1" title="TS reader." alt="" coords="45,80,129,107"/>
+<area shape="rect" id="node2" href="$classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</map>
diff --git a/doc/html/classTSReader__inherit__graph.md5 b/doc/html/classTSReader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..c3a6ec9e0fde9a8858026c2976efc87261d0dce6
--- /dev/null
+++ b/doc/html/classTSReader__inherit__graph.md5
@@ -0,0 +1 @@
+4120a4972e790f46e9ace60d5d857f39
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new file mode 100644
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diff --git a/doc/html/classTaskSpaceReader-members.html b/doc/html/classTaskSpaceReader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..7016c706c7748ec072c00da920581c3f408f18fa
--- /dev/null
+++ b/doc/html/classTaskSpaceReader-members.html
@@ -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">TaskSpaceReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classTaskSpaceReader.html">TaskSpaceReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">read</a>() override</td><td class="entry"><a class="el" href="classTaskSpaceReader.html">TaskSpaceReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">TaskSpaceReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classTaskSpaceReader.html">TaskSpaceReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classTaskSpaceReader.html b/doc/html/classTaskSpaceReader.html
new file mode 100644
index 0000000000000000000000000000000000000000..68c8258ea0a68dea2bd094635d00a397327a6d91
--- /dev/null
+++ b/doc/html/classTaskSpaceReader.html
@@ -0,0 +1,152 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: TaskSpaceReader 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="classTaskSpaceReader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">TaskSpaceReader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Task space reader.
+ <a href="classTaskSpaceReader.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 TaskSpaceReader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classTaskSpaceReader__inherit__graph.png" border="0" usemap="#TaskSpaceReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="TaskSpaceReader_inherit__map" id="TaskSpaceReader_inherit__map">
+<area shape="rect" title="Task space reader." alt="" coords="19,80,155,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</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:aa1110ad6de4a3565b484f1026b15a478"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">read</a> () override</td></tr>
+<tr class="memdesc:aa1110ad6de4a3565b484f1026b15a478"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">More...</a><br /></td></tr>
+<tr class="separator:aa1110ad6de4a3565b484f1026b15a478"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a0201cd05a97b033a0328c16a1a38b457"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">TaskSpaceReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a0201cd05a97b033a0328c16a1a38b457"><td class="mdescLeft"> </td><td class="mdescRight">Task space reader constructor. <a href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">More...</a><br /></td></tr>
+<tr class="separator:a0201cd05a97b033a0328c16a1a38b457"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><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="a0201cd05a97b033a0328c16a1a38b457"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0201cd05a97b033a0328c16a1a38b457">◆ </a></span>TaskSpaceReader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">TaskSpaceReader::TaskSpaceReader </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="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478" 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="aa1110ad6de4a3565b484f1026b15a478"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa1110ad6de4a3565b484f1026b15a478">◆ </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 TaskSpaceReader::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="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classTaskSpaceReader__inherit__graph.map b/doc/html/classTaskSpaceReader__inherit__graph.map
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+</map>
diff --git a/doc/html/classTaskSpaceReader__inherit__graph.md5 b/doc/html/classTaskSpaceReader__inherit__graph.md5
new file mode 100644
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deleted file mode 100644
index f53637a05bf0192300de281fa0c39996c481c9cd..0000000000000000000000000000000000000000
--- a/doc/html/classTask__space__reader-members.html
+++ /dev/null
@@ -1,41 +0,0 @@
-<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>
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-});
-/* @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
deleted file mode 100644
index ae1ab1bd4b5cd22adf3f160ba4f820ae2728242c..0000000000000000000000000000000000000000
--- a/doc/html/classTask__space__reader.html
+++ /dev/null
@@ -1,152 +0,0 @@
-<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>
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-/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
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-/* @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>
diff --git a/doc/html/classTask__space__reader__inherit__graph.map b/doc/html/classTask__space__reader__inherit__graph.map
deleted file mode 100644
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+++ /dev/null
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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Member List</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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-<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__inherit__graph.map b/doc/html/classTs__reader__inherit__graph.map
deleted file mode 100644
index 4ceb5bbf04103be2cc8bb02cefa68af822fc7a7c..0000000000000000000000000000000000000000
--- a/doc/html/classTs__reader__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<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="$classAbstract__param__reader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,180,32"/>
-</map>
diff --git a/doc/html/classTs__reader__inherit__graph.md5 b/doc/html/classTs__reader__inherit__graph.md5
deleted file mode 100644
index 21c827a96c145c2d1dd3ff82258bcd0653f18422..0000000000000000000000000000000000000000
--- a/doc/html/classTs__reader__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-d7fe9d6e0ee88e335588b02e0e0bb748
\ No newline at end of file
diff --git a/doc/html/classTs__reader__inherit__graph.png b/doc/html/classTs__reader__inherit__graph.png
deleted file mode 100644
index 6857caf1af0d0a85fa91ce8c3dcb95103823dc20..0000000000000000000000000000000000000000
Binary files a/doc/html/classTs__reader__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classUR10Decorator-members.html b/doc/html/classUR10Decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..6605b930d781f5d6a6c34d875b83ec1de3473500
--- /dev/null
+++ b/doc/html/classUR10Decorator-members.html
@@ -0,0 +1,70 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">UR10Decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classUR10Decorator.html">UR10Decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a>(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">spezifieRobotGroups</a>() override</td><td class="entry"><a class="el" href="classUR10Decorator.html">UR10Decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">spezifieRootBounds</a>() override</td><td class="entry"><a class="el" href="classUR10Decorator.html">UR10Decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classUR10Decorator.html">UR10Decorator</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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classUR10Decorator.html b/doc/html/classUR10Decorator.html
new file mode 100644
index 0000000000000000000000000000000000000000..4f30bc63370a820b37cb8557e571871668c3ca2b
--- /dev/null
+++ b/doc/html/classUR10Decorator.html
@@ -0,0 +1,259 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: UR10Decorator 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="classUR10Decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">UR10Decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Panda Mediator.
+ <a href="classUR10Decorator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="ur10__decorator_8h_source.html">ur10_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for UR10Decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classUR10Decorator__inherit__graph.png" border="0" usemap="#UR10Decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="UR10Decorator_inherit__map" id="UR10Decorator_inherit__map">
+<area shape="rect" title="Panda Mediator." alt="" coords="34,155,155,181"/>
+<area shape="rect" href="classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="5,80,184,107"/>
+<area shape="rect" href="classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="37,5,152,32"/>
+</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:a265d2ad3a604c02ce69f2920e9087ae1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">spezifieRobotGroups</a> () override</td></tr>
+<tr class="memdesc:a265d2ad3a604c02ce69f2920e9087ae1"><td class="mdescLeft"> </td><td class="mdescRight">UR10 Mapping spezififcation. <a href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">More...</a><br /></td></tr>
+<tr class="separator:a265d2ad3a604c02ce69f2920e9087ae1"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acf7051559d63f1caf0bab6e82ec76c46"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">spezifieRootBounds</a> () override</td></tr>
+<tr class="memdesc:acf7051559d63f1caf0bab6e82ec76c46"><td class="mdescLeft"> </td><td class="mdescRight">UR10 Root spezififcation. <a href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">More...</a><br /></td></tr>
+<tr class="separator:acf7051559d63f1caf0bab6e82ec76c46"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a1240c90a9559c11d54cf53a0d1665b0b"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:a1240c90a9559c11d54cf53a0d1665b0b"><td class="mdescLeft"> </td><td class="mdescRight">UR10 Decorator. <a href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">More...</a><br /></td></tr>
+<tr class="separator:a1240c90a9559c11d54cf53a0d1665b0b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotDecorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotDecorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memitem:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot Decorator. <a href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">More...</a><br /></td></tr>
+<tr class="separator:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a> () override</td></tr>
+<tr class="memdesc:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects bounds call to next_. <a href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">More...</a><br /></td></tr>
+<tr class="separator:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a> (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td></tr>
+<tr class="memdesc:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects check_single_object_collision call. <a href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">More...</a><br /></td></tr>
+<tr class="separator:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afe44b1b1711fa9a0ed97b7237f7cb6d5 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a> ()</td></tr>
+<tr class="separator:afe44b1b1711fa9a0ed97b7237f7cb6d5 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31223d85225bac9603e2ccd06578fe18 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a> ()</td></tr>
+<tr class="separator:a31223d85225bac9603e2ccd06578fe18 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a> () override</td></tr>
+<tr class="memdesc:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects name call to next_. <a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">More...</a><br /></td></tr>
+<tr class="separator:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobot.html">AbstractRobot</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a> ()</td></tr>
+<tr class="memdesc:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Call of mimiced objects. <a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">More...</a><br /></td></tr>
+<tr class="separator:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a> () override</td></tr>
+<tr class="memdesc:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects notify call to next_. <a href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">More...</a><br /></td></tr>
+<tr class="separator:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7eb1074e90af32a2c2fa496b58a1f751 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a> ()</td></tr>
+<tr class="separator:a7eb1074e90af32a2c2fa496b58a1f751 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a> () override</td></tr>
+<tr class="memdesc:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects robot_root_bounds call to next_. <a href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">More...</a><br /></td></tr>
+<tr class="separator:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a> () override</td></tr>
+<tr class="memdesc:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects root_tf call to next_. <a href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">More...</a><br /></td></tr>
+<tr class="separator:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a> () override</td></tr>
+<tr class="memdesc:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects size call to next_. <a href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">More...</a><br /></td></tr>
+<tr class="separator:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a> () override</td></tr>
+<tr class="memdesc:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects tf call to next_. <a href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">More...</a><br /></td></tr>
+<tr class="separator:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a> (std::string <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>)</td></tr>
+<tr class="separator:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">More...</a><br /></td></tr>
+<tr class="separator:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a> (float deg)</td></tr>
+<tr class="separator:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><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_classAbstractRobotDecorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotDecorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memitem:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td></tr>
+<tr class="memdesc:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Coming soon. <a href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">More...</a><br /></td></tr>
+<tr class="separator:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td></tr>
+<tr class="memdesc:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">//!< Mapping of specific task constructor variables <a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">More...</a><br /></td></tr>
+<tr class="separator:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td></tr>
+<tr class="memdesc:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the robots arm. <a href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">More...</a><br /></td></tr>
+<tr class="separator:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td></tr>
+<tr class="memdesc:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the Robots manipulator. <a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">More...</a><br /></td></tr>
+<tr class="separator:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td></tr>
+<tr class="memdesc:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot which is mimiced. <a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">More...</a><br /></td></tr>
+<tr class="separator:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td></tr>
+<tr class="memdesc:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Regexpattern. <a href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">More...</a><br /></td></tr>
+<tr class="separator:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td></tr>
+<tr class="memdesc:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">More...</a><br /></td></tr>
+<tr class="separator:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td></tr>
+<tr class="memdesc:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">More...</a><br /></td></tr>
+<tr class="separator:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">More...</a><br /></td></tr>
+<tr class="separator:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td></tr>
+<tr class="memdesc:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Robot root on table top. <a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">More...</a><br /></td></tr>
+<tr class="separator:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td></tr>
+<tr class="memdesc:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">More...</a><br /></td></tr>
+<tr class="separator:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td></tr>
+<tr class="memdesc:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">More...</a><br /></td></tr>
+<tr class="separator:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Panda Mediator. </p>
+<p>Decorator who describes the stand-plane/root-area of the 'UR10' Robot </p>
+
+<p class="definition">Definition at line <a class="el" href="ur10__decorator_8h_source.html#l00012">12</a> of file <a class="el" href="ur10__decorator_8h_source.html">ur10_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a1240c90a9559c11d54cf53a0d1665b0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1240c90a9559c11d54cf53a0d1665b0b">◆ </a></span>UR10Decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">UR10Decorator::UR10Decorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td>
+ <td class="paramname"><em>next</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>UR10 Decorator. </p>
+<p>initializes UR10 Decorator </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">next</td><td>Abstract Robot to be mimiced </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ur10__decorator_8cpp_source.html#l00004">4</a> of file <a class="el" href="ur10__decorator_8cpp_source.html">ur10_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a265d2ad3a604c02ce69f2920e9087ae1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a265d2ad3a604c02ce69f2920e9087ae1">◆ </a></span>spezifieRobotGroups()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void UR10Decorator::spezifieRobotGroups </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>UR10 Mapping spezififcation. </p>
+<p>Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor </p>
+
+<p>Implements <a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">AbstractRobotDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ur10__decorator_8cpp_source.html#l00022">22</a> of file <a class="el" href="ur10__decorator_8cpp_source.html">ur10_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="acf7051559d63f1caf0bab6e82ec76c46"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf7051559d63f1caf0bab6e82ec76c46">◆ </a></span>spezifieRootBounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void UR10Decorator::spezifieRootBounds </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>UR10 Root spezififcation. </p>
+<p>Overrides the actual Robot root bounds with a square, described from information of 'UR10' manual </p>
+
+<p>Implements <a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">AbstractRobotDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ur10__decorator_8cpp_source.html#l00013">13</a> of file <a class="el" href="ur10__decorator_8cpp_source.html">ur10_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="ur10__decorator_8h_source.html">ur10_decorator.h</a></li>
+<li><a class="el" href="ur10__decorator_8cpp_source.html">ur10_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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classUR10Decorator__inherit__graph.map b/doc/html/classUR10Decorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..a9c0cedd44cc7e9a44e19175633e3a631470ef3a
--- /dev/null
+++ b/doc/html/classUR10Decorator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="UR10Decorator" name="UR10Decorator">
+<area shape="rect" id="node1" title="Panda Mediator." alt="" coords="34,155,155,181"/>
+<area shape="rect" id="node2" href="$classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="5,80,184,107"/>
+<area shape="rect" id="node3" href="$classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="37,5,152,32"/>
+</map>
diff --git a/doc/html/classUR10Decorator__inherit__graph.md5 b/doc/html/classUR10Decorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..df57ef7becfd8792e09f2d6320d70e70644185f0
--- /dev/null
+++ b/doc/html/classUR10Decorator__inherit__graph.md5
@@ -0,0 +1 @@
+d09c9879c94fb429781f686175630f04
\ No newline at end of file
diff --git a/doc/html/classUR10Decorator__inherit__graph.png b/doc/html/classUR10Decorator__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..2abbf2a21bdbe88c5db043cb78bea32da96ef9cb
Binary files /dev/null and b/doc/html/classUR10Decorator__inherit__graph.png differ
diff --git a/doc/html/classUR5Decorator-members.html b/doc/html/classUR5Decorator-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..e467cee8e835e279c967fcc88bfc39d5cef8a3fa
--- /dev/null
+++ b/doc/html/classUR5Decorator-members.html
@@ -0,0 +1,70 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Member List</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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">UR5Decorator Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classUR5Decorator.html">UR5Decorator</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>(std::string name, tf2::Transform tf, tf2::Vector3 size)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a>(tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a>(tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>()</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a>(float deg)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a>(tf2::Transform &t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">AbstractRobot::size</a>(tf2::Vector3 &s)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">spezifieRobotGroups</a>() override</td><td class="entry"><a class="el" href="classUR5Decorator.html">UR5Decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">spezifieRootBounds</a>() override</td><td class="entry"><a class="el" href="classUR5Decorator.html">UR5Decorator</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a>() override</td><td class="entry"><a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a>(tf2::Vector3 t)</td><td class="entry"><a class="el" href="classAbstractRobot.html">AbstractRobot</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator</a>(std::unique_ptr< AbstractRobot > next)</td><td class="entry"><a class="el" href="classUR5Decorator.html">UR5Decorator</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 Mon Mar 27 2023 19:07:14</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: UR5Decorator Class Reference</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
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+<div class="header">
+ <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> |
+<a href="classUR5Decorator-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">UR5Decorator Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>UR5 Decorator.
+ <a href="classUR5Decorator.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="ur5__decorator_8h_source.html">ur5_decorator.h</a>></code></p>
+<div class="dynheader">
+Inheritance diagram for UR5Decorator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classUR5Decorator__inherit__graph.png" border="0" usemap="#UR5Decorator_inherit__map" alt="Inheritance graph"/></div>
+<map name="UR5Decorator_inherit__map" id="UR5Decorator_inherit__map">
+<area shape="rect" title="UR5 Decorator." alt="" coords="38,155,151,181"/>
+<area shape="rect" href="classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="5,80,184,107"/>
+<area shape="rect" href="classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="37,5,152,32"/>
+</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:ac7f015db131e22f7a508865ef6afd03a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">spezifieRobotGroups</a> () override</td></tr>
+<tr class="memdesc:ac7f015db131e22f7a508865ef6afd03a"><td class="mdescLeft"> </td><td class="mdescRight">Panda Mapping spezififcation. <a href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">More...</a><br /></td></tr>
+<tr class="separator:ac7f015db131e22f7a508865ef6afd03a"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a28481d737176393368558ed38669b0ac"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">spezifieRootBounds</a> () override</td></tr>
+<tr class="memdesc:a28481d737176393368558ed38669b0ac"><td class="mdescLeft"> </td><td class="mdescRight">UR5 Root spezififcation. <a href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">More...</a><br /></td></tr>
+<tr class="separator:a28481d737176393368558ed38669b0ac"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3010412a816268e1a0541312c818052e"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:a3010412a816268e1a0541312c818052e"><td class="mdescLeft"> </td><td class="mdescRight">UR5 Decorator. <a href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">More...</a><br /></td></tr>
+<tr class="separator:a3010412a816268e1a0541312c818052e"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobotDecorator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobotDecorator')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memitem:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a> (std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>)</td></tr>
+<tr class="memdesc:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot Decorator. <a href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">More...</a><br /></td></tr>
+<tr class="separator:ab13a5c4b37f6a90b723065e01d056e12 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">bounds</a> () override</td></tr>
+<tr class="memdesc:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects bounds call to next_. <a href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">More...</a><br /></td></tr>
+<tr class="separator:a8da3e89f0a42ec0956a5adc80d2b8816 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">checkSingleObjectCollision</a> (tf2::Transform &obj, std::string &robot_element, std::bitset< 3 > &panel_mask) override</td></tr>
+<tr class="memdesc:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects check_single_object_collision call. <a href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">More...</a><br /></td></tr>
+<tr class="separator:a66c56af565343dcabfdc2e200010501f inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:afe44b1b1711fa9a0ed97b7237f7cb6d5 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a> ()</td></tr>
+<tr class="separator:afe44b1b1711fa9a0ed97b7237f7cb6d5 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a31223d85225bac9603e2ccd06578fe18 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">mgiHand</a> ()</td></tr>
+<tr class="separator:a31223d85225bac9603e2ccd06578fe18 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a> () override</td></tr>
+<tr class="memdesc:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects name call to next_. <a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">More...</a><br /></td></tr>
+<tr class="separator:aa6ac3b0845c32dde50a90655ec0a6c97 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classAbstractRobot.html">AbstractRobot</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a> ()</td></tr>
+<tr class="memdesc:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Call of mimiced objects. <a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">More...</a><br /></td></tr>
+<tr class="separator:af3b03bd96b7f53df1a4a76cf980429fe inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">notify</a> () override</td></tr>
+<tr class="memdesc:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects notify call to next_. <a href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">More...</a><br /></td></tr>
+<tr class="separator:a53b26570fb8847363d0c5398eb633ff7 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7eb1074e90af32a2c2fa496b58a1f751 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a> ()</td></tr>
+<tr class="separator:a7eb1074e90af32a2c2fa496b58a1f751 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">robotRootBounds</a> () override</td></tr>
+<tr class="memdesc:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects robot_root_bounds call to next_. <a href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">More...</a><br /></td></tr>
+<tr class="separator:ad8bc2fc3ca0243df81f065f352fa8c0c inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">rootTf</a> () override</td></tr>
+<tr class="memdesc:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects root_tf call to next_. <a href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">More...</a><br /></td></tr>
+<tr class="separator:a866eacc1aa89353a71e021eabf137203 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">size</a> () override</td></tr>
+<tr class="memdesc:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects size call to next_. <a href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">More...</a><br /></td></tr>
+<tr class="separator:ac64a19cac1215bd89faad4db6a2b176f inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">tf2::Transform & </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">tf</a> () override</td></tr>
+<tr class="memdesc:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Redirects tf call to next_. <a href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">More...</a><br /></td></tr>
+<tr class="separator:aae837cb13e9d38efb346d91dd2bf4566 inherit pub_methods_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractRobot')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a> (std::string <a class="el" href="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">name</a>, tf2::Transform <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">tf</a>, tf2::Vector3 <a class="el" href="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">size</a>)</td></tr>
+<tr class="separator:ae9767037bd216136e3a8619061d6784c inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">areaCalculation</a> (tf2::Transform &A, tf2::Transform &B, tf2::Transform &C)</td></tr>
+<tr class="memdesc:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Triangle area calculator. <a href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">More...</a><br /></td></tr>
+<tr class="separator:a7456945dfc21ee6cc53bd05c932d95b1 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">rotate</a> (float deg)</td></tr>
+<tr class="separator:af3d61b41f607cd3092a6bad7285cb668 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">setTf</a> (tf2::Transform &t)</td></tr>
+<tr class="separator:a53decc994ea4df246c87cedf1619f58b inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a005c48097a8c55d5cd13bd9cbd1f2a86">size</a> (tf2::Vector3 &s)</td></tr>
+<tr class="separator:a005c48097a8c55d5cd13bd9cbd1f2a86 inherit pub_methods_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">translate</a> (tf2::Vector3 t)</td></tr>
+<tr class="separator:a780bb60cd0c8b36d5a687656e06d75f7 inherit pub_methods_classAbstractRobot"><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_classAbstractRobotDecorator"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobotDecorator')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></td></tr>
+<tr class="memitem:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< MapGenerator > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">grasp_map_generator_</a></td></tr>
+<tr class="memdesc:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Coming soon. <a href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">More...</a><br /></td></tr>
+<tr class="separator:a147e86f2dd943e921d534d57a30a53c5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::map< std::string, std::string > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a></td></tr>
+<tr class="memdesc:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">//!< Mapping of specific task constructor variables <a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">More...</a><br /></td></tr>
+<tr class="separator:a06a1ef5229d1524c4cb427520d1edc3a inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a></td></tr>
+<tr class="memdesc:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the robots arm. <a href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">More...</a><br /></td></tr>
+<tr class="separator:ac3727598e76fec150cce2de06a59782b inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a></td></tr>
+<tr class="memdesc:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">MoveGroup Interface for the Robots manipulator. <a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">More...</a><br /></td></tr>
+<tr class="separator:a70fe6a61069c851f1adcd1f18e2f8a4d inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a></td></tr>
+<tr class="memdesc:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Abstract Robot which is mimiced. <a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">More...</a><br /></td></tr>
+<tr class="separator:a300f221528cb239f0125e66f6a3e67d5 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a></td></tr>
+<tr class="memdesc:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="mdescLeft"> </td><td class="mdescRight">Regexpattern. <a href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">More...</a><br /></td></tr>
+<tr class="separator:aceb71e9a949ed0b7693dbbc12da022b9 inherit pro_attribs_classAbstractRobotDecorator"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractRobot"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractRobot')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractRobot.html">AbstractRobot</a></td></tr>
+<tr class="memitem:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">bounds_</a></td></tr>
+<tr class="memdesc:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of table top surface. <a href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">More...</a><br /></td></tr>
+<tr class="separator:a6e3c9f8635200012425072be65633a4e inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">name_</a></td></tr>
+<tr class="memdesc:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Name of robot. <a href="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">More...</a><br /></td></tr>
+<tr class="separator:a4c67a63e89e2e2fb7915adfc44e8930b inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">std::vector< tf2::Transform > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">robot_root_bounds_</a></td></tr>
+<tr class="memdesc:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Bounds of robot arm as sub-region of table top. <a href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">More...</a><br /></td></tr>
+<tr class="separator:a13f598496fdae9b2f881a494d4737fc4 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">root_tf_</a></td></tr>
+<tr class="memdesc:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Robot root on table top. <a href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">More...</a><br /></td></tr>
+<tr class="separator:a2c8771686cd69c4986feea6e6fdd9e76 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Vector3 </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">size_</a></td></tr>
+<tr class="memdesc:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Size of table. <a href="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">More...</a><br /></td></tr>
+<tr class="separator:af9c9ba20329199e5d1722a681f2087e9 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">tf_</a></td></tr>
+<tr class="memdesc:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="mdescLeft"> </td><td class="mdescRight">Pose of table. <a href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">More...</a><br /></td></tr>
+<tr class="separator:ab2f383d6e9fccdb649441ac67f457f21 inherit pro_attribs_classAbstractRobot"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>UR5 Decorator. </p>
+<p>Decorator who describes the root-area of the 'UR5' Robot </p>
+
+<p class="definition">Definition at line <a class="el" href="ur5__decorator_8h_source.html#l00013">13</a> of file <a class="el" href="ur5__decorator_8h_source.html">ur5_decorator.h</a>.</p>
+</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
+<a id="a3010412a816268e1a0541312c818052e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3010412a816268e1a0541312c818052e">◆ </a></span>UR5Decorator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">UR5Decorator::UR5Decorator </td>
+ <td>(</td>
+ <td class="paramtype">std::unique_ptr< <a class="el" href="classAbstractRobot.html">AbstractRobot</a> > </td>
+ <td class="paramname"><em>next</em></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p>UR5 Decorator. </p>
+<p>initializes UR5 Decorator </p><dl class="params"><dt>Parameters</dt><dd>
+ <table class="params">
+ <tr><td class="paramname">next</td><td>Abstract Robot to be mimiced </td></tr>
+ </table>
+ </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="ur5__decorator_8cpp_source.html#l00004">4</a> of file <a class="el" href="ur5__decorator_8cpp_source.html">ur5_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac7f015db131e22f7a508865ef6afd03a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7f015db131e22f7a508865ef6afd03a">◆ </a></span>spezifieRobotGroups()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void UR5Decorator::spezifieRobotGroups </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>Panda Mapping spezififcation. </p>
+<p>Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor </p>
+
+<p>Implements <a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">AbstractRobotDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ur5__decorator_8cpp_source.html#l00022">22</a> of file <a class="el" href="ur5__decorator_8cpp_source.html">ur5_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a28481d737176393368558ed38669b0ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28481d737176393368558ed38669b0ac">◆ </a></span>spezifieRootBounds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void UR5Decorator::spezifieRootBounds </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>UR5 Root spezififcation. </p>
+<p>Overrides the actual Robot root bounds with a square, described from information of 'UR5' manual </p>
+
+<p>Implements <a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">AbstractRobotDecorator</a>.</p>
+
+<p class="definition">Definition at line <a class="el" href="ur5__decorator_8cpp_source.html#l00013">13</a> of file <a class="el" href="ur5__decorator_8cpp_source.html">ur5_decorator.cpp</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li><a class="el" href="ur5__decorator_8h_source.html">ur5_decorator.h</a></li>
+<li><a class="el" href="ur5__decorator_8cpp_source.html">ur5_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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classUR5Decorator__inherit__graph.map b/doc/html/classUR5Decorator__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..299c72a58624c754d007f4aa5c88f5010126f536
--- /dev/null
+++ b/doc/html/classUR5Decorator__inherit__graph.map
@@ -0,0 +1,5 @@
+<map id="UR5Decorator" name="UR5Decorator">
+<area shape="rect" id="node1" title="UR5 Decorator." alt="" coords="38,155,151,181"/>
+<area shape="rect" id="node2" href="$classAbstractRobotDecorator.html" title="Abstract Robot Decorator." alt="" coords="5,80,184,107"/>
+<area shape="rect" id="node3" href="$classAbstractRobot.html" title="Abstract Robot implementation." alt="" coords="37,5,152,32"/>
+</map>
diff --git a/doc/html/classUR5Decorator__inherit__graph.md5 b/doc/html/classUR5Decorator__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..060cf3730fd8095e6f49044d40851431b4a7a2df
--- /dev/null
+++ b/doc/html/classUR5Decorator__inherit__graph.md5
@@ -0,0 +1 @@
+e8da97a557f25aad3f438943710b70ca
\ No newline at end of file
diff --git a/doc/html/classUR5Decorator__inherit__graph.png b/doc/html/classUR5Decorator__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..d43827353d94f94c175c66aae10e22257f28ac66
Binary files /dev/null and b/doc/html/classUR5Decorator__inherit__graph.png differ
diff --git a/doc/html/classWing-members.html b/doc/html/classWing-members.html
deleted file mode 100644
index e2fe1e2c81fc0589608bb156857cd9327e06b5ba..0000000000000000000000000000000000000000
--- a/doc/html/classWing-members.html
+++ /dev/null
@@ -1,61 +0,0 @@
-<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
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+++ /dev/null
@@ -1,438 +0,0 @@
-<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>
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-$(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">
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-<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/classWingReader-members.html b/doc/html/classWingReader-members.html
new file mode 100644
index 0000000000000000000000000000000000000000..7e61c35aab45b3b8d4cc8c6d0c13f21a15c3fec2
--- /dev/null
+++ b/doc/html/classWingReader-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">WingReader Member List</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classWingReader.html">WingReader</a>, including all inherited members.</p>
+<table class="directory">
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(XmlRpc::XmlRpcValue &val)</td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td><td class="entry"><a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">read</a>() override</td><td class="entry"><a class="el" href="classWingReader.html">WingReader</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWingReader.html#acb93724c3512641f05c689c0e846f096">setWingData</a>(std::map< const std::string, std::pair< std::vector< object_data >, int >> &wing_data)</td><td class="entry"><a class="el" href="classWingReader.html">WingReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">wing_data_</a></td><td class="entry"><a class="el" href="classWingReader.html">WingReader</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="classWingReader.html#a055603149057f4734a689f0fcbec21ba">wingData</a>()</td><td class="entry"><a class="el" href="classWingReader.html">WingReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+ <tr><td class="entry"><a class="el" href="classWingReader.html#a3fdb95591be590790271842612bcf00c">WingReader</a>(std::shared_ptr< ros::NodeHandle > const &d)</td><td class="entry"><a class="el" href="classWingReader.html">WingReader</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWingReader.html b/doc/html/classWingReader.html
new file mode 100644
index 0000000000000000000000000000000000000000..c8bb47b6b5fd9709eb47e99c051b797872605ba5
--- /dev/null
+++ b/doc/html/classWingReader.html
@@ -0,0 +1,255 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: WingReader 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="classWingReader-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">WingReader Class Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Wing reader.
+ <a href="classWingReader.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 WingReader:</div>
+<div class="dyncontent">
+<div class="center"><img src="classWingReader__inherit__graph.png" border="0" usemap="#WingReader_inherit__map" alt="Inheritance graph"/></div>
+<map name="WingReader_inherit__map" id="WingReader_inherit__map">
+<area shape="rect" title="Wing reader." alt="" coords="37,80,138,107"/>
+<area shape="rect" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</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:a80f96970b091739ad14a690abcda96ce"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">read</a> () override</td></tr>
+<tr class="memdesc:a80f96970b091739ad14a690abcda96ce"><td class="mdescLeft"> </td><td class="mdescRight">read implementatin <a href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">More...</a><br /></td></tr>
+<tr class="separator:a80f96970b091739ad14a690abcda96ce"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:acb93724c3512641f05c689c0e846f096"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classWingReader.html#acb93724c3512641f05c689c0e846f096">setWingData</a> (std::map< const std::string, std::pair< std::vector< <a class="el" href="structobject__data.html">object_data</a> >, int >> &wing_data)</td></tr>
+<tr class="memdesc:acb93724c3512641f05c689c0e846f096"><td class="mdescLeft"> </td><td class="mdescRight">Set wing data. <a href="classWingReader.html#acb93724c3512641f05c689c0e846f096">More...</a><br /></td></tr>
+<tr class="separator:acb93724c3512641f05c689c0e846f096"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a055603149057f4734a689f0fcbec21ba"><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="classWingReader.html#a055603149057f4734a689f0fcbec21ba">wingData</a> ()</td></tr>
+<tr class="memdesc:a055603149057f4734a689f0fcbec21ba"><td class="mdescLeft"> </td><td class="mdescRight">Get wing data. <a href="classWingReader.html#a055603149057f4734a689f0fcbec21ba">More...</a><br /></td></tr>
+<tr class="separator:a055603149057f4734a689f0fcbec21ba"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a3fdb95591be590790271842612bcf00c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classWingReader.html#a3fdb95591be590790271842612bcf00c">WingReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a3fdb95591be590790271842612bcf00c"><td class="mdescLeft"> </td><td class="mdescRight">Wing reader constructor. <a href="classWingReader.html#a3fdb95591be590790271842612bcf00c">More...</a><br /></td></tr>
+<tr class="separator:a3fdb95591be590790271842612bcf00c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pub_methods_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classAbstractParamReader')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a> (std::shared_ptr< ros::NodeHandle > const &d)</td></tr>
+<tr class="memdesc:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classAbstractParamReader.html" title="Abstract ROS-Param reader class.">AbstractParamReader</a> constructor. <a href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">More...</a><br /></td></tr>
+<tr class="separator:a76f530a69e2f976e7fb9551163764a3c inherit pub_methods_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a> (XmlRpc::XmlRpcValue &val)</td></tr>
+<tr class="memdesc:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">Xmlrpc parser. <a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">More...</a><br /></td></tr>
+<tr class="separator:ae72d6da8f6be23dccb89c542edc144b9 inherit pub_methods_classAbstractParamReader"><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:aee76d2b963c7a40b77a46f48f7a0d0e8"><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="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">wing_data_</a></td></tr>
+<tr class="memdesc:aee76d2b963c7a40b77a46f48f7a0d0e8"><td class="mdescLeft"> </td><td class="mdescRight">Mask and object data mapped to robot. <a href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">More...</a><br /></td></tr>
+<tr class="separator:aee76d2b963c7a40b77a46f48f7a0d0e8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="inherit_header pro_attribs_classAbstractParamReader"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classAbstractParamReader')"><img src="closed.png" alt="-"/> Protected Attributes inherited from <a class="el" href="classAbstractParamReader.html">AbstractParamReader</a></td></tr>
+<tr class="memitem:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memItemLeft" align="right" valign="top">std::shared_ptr< ros::NodeHandle > </td><td class="memItemRight" valign="bottom"><a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a></td></tr>
+<tr class="memdesc:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="mdescLeft"> </td><td class="mdescRight">ROS Nodehandle. <a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">More...</a><br /></td></tr>
+<tr class="separator:aaf04f9855d82c373e90f0540892a1d32 inherit pro_attribs_classAbstractParamReader"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Wing 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="a3fdb95591be590790271842612bcf00c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fdb95591be590790271842612bcf00c">◆ </a></span>WingReader()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">WingReader::WingReader </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>Wing reader constructor. </p>
+<p>Calls pure virtual <a class="el" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce" 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="a80f96970b091739ad14a690abcda96ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80f96970b091739ad14a690abcda96ce">◆ </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 WingReader::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="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</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="acb93724c3512641f05c689c0e846f096"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb93724c3512641f05c689c0e846f096">◆ </a></span>setWingData()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">void WingReader::setWingData </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="a055603149057f4734a689f0fcbec21ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a055603149057f4734a689f0fcbec21ba">◆ </a></span>wingData()</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> >& WingReader::wingData </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="aee76d2b963c7a40b77a46f48f7a0d0e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee76d2b963c7a40b77a46f48f7a0d0e8">◆ </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> > WingReader::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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/classWingReader__inherit__graph.map b/doc/html/classWingReader__inherit__graph.map
new file mode 100644
index 0000000000000000000000000000000000000000..80463d027f71a69b1cd885994c269bc31ca7ccd6
--- /dev/null
+++ b/doc/html/classWingReader__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="WingReader" name="WingReader">
+<area shape="rect" id="node1" title="Wing reader." alt="" coords="37,80,138,107"/>
+<area shape="rect" id="node2" href="$classAbstractParamReader.html" title="Abstract ROS-Param reader class." alt="" coords="5,5,169,32"/>
+</map>
diff --git a/doc/html/classWingReader__inherit__graph.md5 b/doc/html/classWingReader__inherit__graph.md5
new file mode 100644
index 0000000000000000000000000000000000000000..e81b747f41361c2a06569087f0bda6f544eabbb1
--- /dev/null
+++ b/doc/html/classWingReader__inherit__graph.md5
@@ -0,0 +1 @@
+c829d5c34f9a9bf3240911dd46ea3345
\ No newline at end of file
diff --git a/doc/html/classWingReader__inherit__graph.png b/doc/html/classWingReader__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e3e8c35e9b886bd757ffa47bf6ddedb07686015
Binary files /dev/null and b/doc/html/classWingReader__inherit__graph.png differ
diff --git a/doc/html/classWing__inherit__graph.map b/doc/html/classWing__inherit__graph.map
deleted file mode 100644
index 151b737287f83efc51a7f434885a6de7f592e801..0000000000000000000000000000000000000000
--- a/doc/html/classWing__inherit__graph.map
+++ /dev/null
@@ -1,4 +0,0 @@
-<map id="Wing" name="Wing">
-<area shape="rect" id="node1" title=" " alt="" coords="67,80,122,107"/>
-<area shape="rect" id="node2" href="$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
deleted file mode 100644
index 99fcd4f88a5f6735e00bf937e874637bbcb2dd51..0000000000000000000000000000000000000000
--- a/doc/html/classWing__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-44f6ce45cd928cfcfa7ee7335daaaa7a
\ No newline at end of file
diff --git a/doc/html/classWing__inherit__graph.png b/doc/html/classWing__inherit__graph.png
deleted file mode 100644
index 5dacfb7d200a68651a7408594b18ecec57cd30ff..0000000000000000000000000000000000000000
Binary files a/doc/html/classWing__inherit__graph.png and /dev/null differ
diff --git a/doc/html/classWing__moveit__decorator-members.html b/doc/html/classWing__moveit__decorator-members.html
deleted file mode 100644
index 427b2329702c9c3716f0484017a02f6288d13789..0000000000000000000000000000000000000000
--- a/doc/html/classWing__moveit__decorator-members.html
+++ /dev/null
@@ -1,70 +0,0 @@
-<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
deleted file mode 100644
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--- a/doc/html/classWing__moveit__decorator.html
+++ /dev/null
@@ -1,341 +0,0 @@
-<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">
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-<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
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diff --git a/doc/html/classWing__moveit__decorator__inherit__graph.png b/doc/html/classWing__moveit__decorator__inherit__graph.png
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Binary files a/doc/html/classWing__moveit__decorator__inherit__graph.png and /dev/null differ
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deleted file mode 100644
index 1a6c2959b6a746cfffd023baa1a1d4f5f3139fc5..0000000000000000000000000000000000000000
--- a/doc/html/classWing__reader-members.html
+++ /dev/null
@@ -1,44 +0,0 @@
-<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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-<div class="title">Wing_reader Member List</div> </div>
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-<div class="contents">
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- <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
deleted file mode 100644
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+++ /dev/null
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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: Wing_reader Class Reference</title>
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-<a href="#pub-methods">Public Member Functions</a> |
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-<a href="classWing__reader-members.html">List of all members</a> </div>
- <div class="headertitle">
-<div class="title">Wing_reader Class Reference</div> </div>
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-
-<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
deleted file mode 100644
index d67e0b2b829cabd1828684118d803bd92382e93c..0000000000000000000000000000000000000000
--- a/doc/html/classWing__reader__inherit__graph.map
+++ /dev/null
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diff --git a/doc/html/classWing__reader__inherit__graph.md5 b/doc/html/classWing__reader__inherit__graph.md5
deleted file mode 100644
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--- a/doc/html/classWing__reader__inherit__graph.md5
+++ /dev/null
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diff --git a/doc/html/classWing__reader__inherit__graph.png b/doc/html/classWing__reader__inherit__graph.png
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diff --git a/doc/html/classWing__rviz__decorator-members.html b/doc/html/classWing__rviz__decorator-members.html
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--- a/doc/html/classWing__rviz__decorator-members.html
+++ /dev/null
@@ -1,70 +0,0 @@
-<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
deleted file mode 100644
index ab1c5292efda433e1048173053b52e11c4fae5e1..0000000000000000000000000000000000000000
--- a/doc/html/classWing__rviz__decorator.html
+++ /dev/null
@@ -1,341 +0,0 @@
-<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>
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-</div>
-</div>
-<a id="ab14def4c2e63ce9036488b894e74c507"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ab14def4c2e63ce9036488b894e74c507">◆ </a></span>set_markers()</h2>
-
-<div class="memitem">
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- <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">
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-<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>
diff --git a/doc/html/classWing__rviz__decorator__inherit__graph.map b/doc/html/classWing__rviz__decorator__inherit__graph.map
deleted file mode 100644
index 6545b22fd9cde13ed6f4d6ad846ae6d0b1ed8b5c..0000000000000000000000000000000000000000
--- a/doc/html/classWing__rviz__decorator__inherit__graph.map
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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>
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-</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>
diff --git a/doc/html/collision__helper_8h__dep__incl.map b/doc/html/collision__helper_8h__dep__incl.map
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deleted file mode 100644
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+++ /dev/null
@@ -1,59 +0,0 @@
-<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>
-</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_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>
diff --git a/doc/html/cuboid__reader_8cpp.html b/doc/html/cuboid__reader_8cpp.html
index be8d2ad148457b577d74ec2de1e09a016e855b4b..2630ea91307412f255e42ad69401473b9be7244c 100644
--- a/doc/html/cuboid__reader_8cpp.html
+++ b/doc/html/cuboid__reader_8cpp.html
@@ -53,7 +53,7 @@ Include dependency graph for cuboid_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/cuboid__reader_8cpp_source.html b/doc/html/cuboid__reader_8cpp_source.html
index e06e8520ae8813f3ad91e71c2c2b33cc95fbd911..b372480e57728b17d228c307e65e03fad3f1aca0 100644
--- a/doc/html/cuboid__reader_8cpp_source.html
+++ b/doc/html/cuboid__reader_8cpp_source.html
@@ -27,10 +27,10 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader::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="l00006"></a><span class="lineno"> 6</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  std::string <span class="keywordtype">id</span> = resources[i][<span class="stringliteral">"id"</span>];</div>
@@ -39,17 +39,17 @@ $(function() {
<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="l00015"></a><span class="lineno"> 15</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
-<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="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="l00019"></a><span class="lineno"> 19</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  Cuboid o;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  o.Name = <span class="keywordtype">id</span>.c_str();</div>
@@ -65,7 +65,7 @@ $(function() {
<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="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>.push_back(o);</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  ROS_INFO(<span class="stringliteral">"--- Object: %s --- Type: BOX ---"</span>, o.Name.c_str());</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  ROS_INFO(<span class="stringliteral">"=> Object: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  ROS_INFO(<span class="stringliteral">"=> Object: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
@@ -77,17 +77,17 @@ $(function() {
<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="l00053"></a><span class="lineno"> 53</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"length"</span>)) ? size.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"width"</span>)) ? size.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  (resources[i][<span class="stringliteral">"size"</span>].hasMember(<span class="stringliteral">"height"</span>)) ? size.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
-<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="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="l00057"></a><span class="lineno"> 57</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? pos.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? pos.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  (resources[i][<span class="stringliteral">"pos"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? pos.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"x"</span>)) ? rot.setX(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"y"</span>)) ? rot.setY(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"z"</span>)) ? rot.setZ(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  (resources[i][<span class="stringliteral">"orientation"</span>].hasMember(<span class="stringliteral">"w"</span>)) ? rot.setW(<a class="code" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  Cuboid o;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  o.Name = <span class="keywordtype">id</span>.c_str();</div>
@@ -102,7 +102,7 @@ $(function() {
<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="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a>.push_back(o);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  ROS_INFO(<span class="stringliteral">"--- Object: %s --- Type: BIN ---"</span>, o.Name.c_str());</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  ROS_INFO(<span class="stringliteral">"=> Object: pos('%f', '%f', '%f')"</span>, pos.getX(), pos.getY(), pos.getZ());</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  ROS_INFO(<span class="stringliteral">"=> Object: orientation('%f', '%f', '%f', '%f')"</span>, rot.getX(), rot.getY(), rot.getZ(), rot.getW());</div>
@@ -112,18 +112,18 @@ $(function() {
<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>
+<div class="ttc" id="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a0a07f5fb34f7867d3bd861451ff3f624"><div class="ttname"><a href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8cpp_source.html#l00003">cuboid_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a3e8f4d8682d14f21e46d78a2e3f4f0bf"><div class="ttname"><a href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">CuboidReader::cuboid_box_</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_box_</div><div class="ttdoc">As box defined object.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00019">cuboid_reader.h:19</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a91f3e86106a59eb97916cb72337e1173"><div class="ttname"><a href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader::cuboid_obstacle_</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_obstacle_</div><div class="ttdoc">As obstacle defined objects.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00020">cuboid_reader.h:20</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/cuboid__reader_8h.html b/doc/html/cuboid__reader_8h.html
index 321e266c953d8993ef0743ca2bf93e32bb940170..f633e446a43b46cdb20ea080586dd25da3d6ef9b 100644
--- a/doc/html/cuboid__reader_8h.html
+++ b/doc/html/cuboid__reader_8h.html
@@ -27,7 +27,7 @@ $(function() {
<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 />
+<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 />
@@ -55,14 +55,12 @@ This graph shows which files directly or indirectly include this file:</div>
<div class="dyncontent">
<div class="center"><img src="cuboid__reader_8h__dep__incl.png" border="0" usemap="#cuboid__reader_8hdep" alt=""/></div>
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@@ -70,8 +68,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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">Cuboid reader. <a href="classCuboid__reader.html#details">More...</a><br /></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classCuboidReader.html">CuboidReader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Cuboid reader. <a href="classCuboidReader.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -80,7 +78,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/cuboid__reader_8h__dep__incl.map b/doc/html/cuboid__reader_8h__dep__incl.map
index 422ce856a5c60f0ace51cb5257af8f8c708d685d..37a927f3b7f741ad2319c5c7d378ac4d7112f6da 100644
--- a/doc/html/cuboid__reader_8h__dep__incl.map
+++ b/doc/html/cuboid__reader_8h__dep__incl.map
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diff --git a/doc/html/cuboid__reader_8h__dep__incl.md5 b/doc/html/cuboid__reader_8h__dep__incl.md5
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--- a/doc/html/cuboid__reader_8h__dep__incl.md5
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diff --git a/doc/html/cuboid__reader_8h__dep__incl.png b/doc/html/cuboid__reader_8h__dep__incl.png
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diff --git a/doc/html/cuboid__reader_8h_source.html b/doc/html/cuboid__reader_8h_source.html
index b08893c247cf72ab759b0677d3167ba4c1d7a326..28141a5b4aefcd632353b3e9f4cdacf4ebf8b77b 100644
--- a/doc/html/cuboid__reader_8h_source.html
+++ b/doc/html/cuboid__reader_8h_source.html
@@ -28,7 +28,7 @@ $(function() {
<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="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>
@@ -38,48 +38,48 @@ $(function() {
<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="l00017"></a><span class="lineno"><a class="line" href="classCuboidReader.html"> 17</a></span> <span class="keyword">class </span><a class="code" href="classCuboidReader.html">CuboidReader</a> : <span class="keyword">public</span> <a class="code" href="classAbstractParamReader.html">AbstractParamReader</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="l00019"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf"> 19</a></span>  std::vector<Cuboid> <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>; </div>
+<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173"> 20</a></span>  std::vector<Cuboid> <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">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="l00028"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1"> 28</a></span>  <a class="code" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>(d){<a class="code" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a>();}</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
-<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="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="l00034"></a><span class="lineno"><a class="line" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926"> 34</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">setCuboidBinData</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a> = cuboid_data;}</div>
<div class="line"><a name="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="l00040"></a><span class="lineno"><a class="line" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7"> 40</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">setCuboidObstacleData</a>(std::vector<Cuboid>& cuboid_data) {<a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a> = cuboid_data;}</div>
<div class="line"><a name="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="l00046"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b"> 46</a></span>  <span class="keyword">inline</span> std::vector<Cuboid> <a class="code" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">cuboidBin</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">cuboid_box_</a>;}</div>
<div class="line"><a name="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="l00052"></a><span class="lineno"><a class="line" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827"> 52</a></span>  <span class="keyword">inline</span> std::vector<Cuboid> <a class="code" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">cuboidObstacle</a>() {<span class="keywordflow">return</span> <a class="code" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">cuboid_obstacle_</a>;}</div>
<div class="line"><a name="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="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">void</span> <a class="code" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">read</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> };</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
-<div class="ttc" id="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>
+<div class="ttc" id="aclassCuboidReader_html_a0a07f5fb34f7867d3bd861451ff3f624"><div class="ttname"><a href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader::read</a></div><div class="ttdeci">void read() override</div><div class="ttdoc">read implementatin</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8cpp_source.html#l00003">cuboid_reader.cpp:3</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_af590521a56d12391fbf96411cd8f6926"><div class="ttname"><a href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">CuboidReader::setCuboidBinData</a></div><div class="ttdeci">void setCuboidBinData(std::vector< Cuboid > &cuboid_data)</div><div class="ttdoc">Set Cuboid box.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00034">cuboid_reader.h:34</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a986635198367e1d869e1dcaccb021827"><div class="ttname"><a href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">CuboidReader::cuboidObstacle</a></div><div class="ttdeci">std::vector< Cuboid > cuboidObstacle()</div><div class="ttdoc">Get Cuboid obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00052">cuboid_reader.h:52</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a3e8f4d8682d14f21e46d78a2e3f4f0bf"><div class="ttname"><a href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">CuboidReader::cuboid_box_</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_box_</div><div class="ttdoc">As box defined object.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00019">cuboid_reader.h:19</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a2bc121e539f485a3aab88b4b57b9de9b"><div class="ttname"><a href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">CuboidReader::cuboidBin</a></div><div class="ttdeci">std::vector< Cuboid > cuboidBin()</div><div class="ttdoc">Get Cuboid box.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00046">cuboid_reader.h:46</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a91f3e86106a59eb97916cb72337e1173"><div class="ttname"><a href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader::cuboid_obstacle_</a></div><div class="ttdeci">std::vector< Cuboid > cuboid_obstacle_</div><div class="ttdoc">As obstacle defined objects.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00020">cuboid_reader.h:20</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_a2a0fc34bf937185bdbda05e008ada8e1"><div class="ttname"><a href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader::CuboidReader</a></div><div class="ttdeci">CuboidReader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Cuboid reader constructor.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00028">cuboid_reader.h:28</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html"><div class="ttname"><a href="classCuboidReader.html">CuboidReader</a></div><div class="ttdoc">Cuboid reader.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00017">cuboid_reader.h:17</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html_ac60f1dcb39c0f0e176a5835c5ae97dc7"><div class="ttname"><a href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">CuboidReader::setCuboidObstacleData</a></div><div class="ttdeci">void setCuboidObstacleData(std::vector< Cuboid > &cuboid_data)</div><div class="ttdoc">Set Cuboid obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00040">cuboid_reader.h:40</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_000001_000006.html b/doc/html/dir_000001_000006.html
new file mode 100644
index 0000000000000000000000000000000000000000..5ba49f0fb838cea4e60ec614ffcc10d902ad03ff
--- /dev/null
+++ b/doc/html/dir_000001_000006.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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000001_000008.html b/doc/html/dir_000001_000008.html
index c915596025c2b5c32040f30506c9600b812e9477..49c55f787d244a8a4763d824b937aa3203efb066 100644
--- a/doc/html/dir_000001_000008.html
+++ b/doc/html/dir_000001_000008.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: bridge -> reader Relation</title>
+<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>
@@ -21,13 +21,13 @@ $(function() {
</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 -->
+<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="abstract__robot_8h.html">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_000002_000008.html b/doc/html/dir_000002_000008.html
deleted file mode 100644
index 9bfa145c8977e0cc76800150dc7fe88e23ec9416..0000000000000000000000000000000000000000
--- a/doc/html/dir_000002_000008.html
+++ /dev/null
@@ -1,33 +0,0 @@
-<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 -->
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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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- 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_000003_000000.html b/doc/html/dir_000003_000000.html
new file mode 100644
index 0000000000000000000000000000000000000000..81b6f104b00c81a8af368d90164c7b52fd2ed1c3
--- /dev/null
+++ b/doc/html/dir_000003_000000.html
@@ -0,0 +1,33 @@
+<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>
+<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="contents">
+<h3>mediator → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/mediator</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8cpp.html">abstract_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8cpp.html">base_calculation_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a></td><td class="dirtab"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a> / <a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td></tr></table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000004_000000.html b/doc/html/dir_000004_000000.html
deleted file mode 100644
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-<script type="text/javascript" src="jquery.js"></script>
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-</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>
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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: 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>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<div id="nav-path" class="navpath">
+ <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>mediator → reader Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/mediator</th><th class="dirtab">Includes file in include/reader</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__reader_8h.html">robot_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="ts__reader_8h.html">ts_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="robot__reader_8h.html">robot_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="cuboid__reader_8h.html">cuboid_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="job__reader_8h.html">job_reader.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="wing__reader_8h.html">wing_reader.h</a></td></tr></table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000006_000010.html b/doc/html/dir_000004_000008.html
similarity index 50%
rename from doc/html/dir_000006_000010.html
rename to doc/html/dir_000004_000008.html
index fb2685c5baa8bca76a166ee8cdd694accf6b2740..669872964f6bedd6b566b6f73b61ea4c7dc1531f 100644
--- a/doc/html/dir_000006_000010.html
+++ b/doc/html/dir_000004_000008.html
@@ -21,13 +21,13 @@ $(function() {
</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 -->
+<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="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="abstract__robot_8h.html">abstract_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="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="abstract__mediator_8h.html">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="base__calculation__mediator_8h.html">base_calculation_mediator.h</a></td><td class="dirtab"><a class="el" href="abstract__robot_8h.html">abstract_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="ceti__robot_8h.html">ceti_robot.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="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a> / <a class="el" href="abstract__robot__decorator_8h.html">abstract_robot_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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_000006_000012.html b/doc/html/dir_000004_000010.html
similarity index 51%
rename from doc/html/dir_000006_000012.html
rename to doc/html/dir_000004_000010.html
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+++ b/doc/html/dir_000004_000010.html
@@ -21,13 +21,13 @@ $(function() {
</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 -->
+<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="abstract__mediator_8h.html">abstract_mediator.h</a></td><td class="dirtab"><a class="el" href="abstract__robot__element_8h.html">abstract_robot_element.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_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="moveit__mediator_8h.html">moveit_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="moveit__mediator_8h.html">moveit_mediator.h</a></td><td class="dirtab"><a class="el" href="dir_fb8c633076c6fa825500b9de509aef22.html">observers</a> / <a class="el" href="moveit__panel_8h.html">moveit_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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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new file mode 100644
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--- /dev/null
+++ b/doc/html/dir_000004_000015.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: mediator -> bt 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_7b0efc06fc22adaf2ca7a380b2f6473b.html">mediator</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>mediator → bt Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/mediator</th><th class="dirtab">Includes file in include/bt</th></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="execution_8h.html">execution.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="parallel__robot_8h.html">parallel_robot.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="position__condition_8h.html">position_condition.h</a></td></tr></table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000005_000000.html b/doc/html/dir_000005_000000.html
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@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: mediator -> include Relation</title>
+<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>
@@ -17,17 +17,17 @@ $(function() {
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<div id="nav-path" class="navpath">
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: robot_element -> include Relation</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<div id="nav-path" class="navpath">
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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> </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_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 Mon Mar 27 2023 19:07:14</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: 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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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deleted file mode 100644
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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">
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-</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
index 719c29e35a70172d2051adca6ff371cdd9c5c96c..98a98dd270f5dee9e7e41ca12efedb16b6b8fd0d 100644
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@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: decorators -> include Relation</title>
+<title>multi_cell_builder: bt -> 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>
@@ -17,17 +17,17 @@ $(function() {
<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>
+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3fa4fe7af966ee5402ed4c492cbb29ae.html">bt</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 -->
+<h3>bt → include Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in src/bt</th><th class="dirtab">Includes file in include</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="execution_8cpp.html">execution.cpp</a></td><td class="dirtab"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</a> / <a class="el" href="execution_8h.html">execution.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="parallel__robot_8cpp.html">parallel_robot.cpp</a></td><td class="dirtab"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</a> / <a class="el" href="parallel__robot_8h.html">parallel_robot.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="position__condition_8cpp.html">position_condition.cpp</a></td><td class="dirtab"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</a> / <a class="el" href="position__condition_8h.html">position_condition.h</a></td></tr></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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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+++ b/doc/html/dir_000015_000004.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: bridge -> robot Relation</title>
+<title>multi_cell_builder: bt -> mediator 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>
@@ -17,17 +17,17 @@ $(function() {
<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>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_667ff67bcf6db6b92614eeda031ac18f.html">bt</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 -->
+<h3>bt → mediator Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/bt</th><th class="dirtab">Includes file in include/mediator</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="execution_8h.html">execution.h</a></td><td class="dirtab"><a class="el" href="abstract__mediator_8h.html">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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new file mode 100644
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+++ b/doc/html/dir_000015_000008.html
@@ -0,0 +1,33 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: bt -> 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_667ff67bcf6db6b92614eeda031ac18f.html">bt</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>bt → robot Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in include/bt</th><th class="dirtab">Includes file in include/robot</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="execution_8h.html">execution.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></table></div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/dir_000016_000000.html b/doc/html/dir_000016_000000.html
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<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 -->
+<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="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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_000018_000000.html b/doc/html/dir_000018_000000.html
index bd552e758cde682fd22d74463a0b9922c31a3d3e..037cc9cfb4a34fa10bc33cc70450502ca26dd789 100644
--- a/doc/html/dir_000018_000000.html
+++ b/doc/html/dir_000018_000000.html
@@ -21,13 +21,13 @@ $(function() {
</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 -->
+<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><tr class="dirtab"><td class="dirtab"><a class="el" href="ur10__decorator_8cpp.html">ur10_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="ur10__decorator_8h.html">ur10_decorator.h</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="ur5__decorator_8cpp.html">ur5_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="ur5__decorator_8h.html">ur5_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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_000019_000000.html b/doc/html/dir_000019_000000.html
index d928fb4cd4819ab09f601f4103e9db776b8bd1c5..cd9f2b11c196750366eeb00fa1dd40ca371345c3 100644
--- a/doc/html/dir_000019_000000.html
+++ b/doc/html/dir_000019_000000.html
@@ -27,7 +27,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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index 8802404cc9d9c8fe942d4ebcea7381e638ef3e4a..1991960eb5cd18396066989ac4a05de0737c43a9 100644
--- a/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html
+++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e.html
@@ -32,17 +32,19 @@ Directory dependency graph for mediator:</div>
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<area shape="rect" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="32,148,104,196"/>
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<area shape="rect" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" title="src" alt="" coords="16,16,120,111"/>
</map>
</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a>
Files</h2></td></tr>
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+<tr class="memitem:abstract__mediator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="abstract__mediator_8cpp.html">abstract_mediator.cpp</a> <a href="abstract__mediator_8cpp_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:base__calculation__mediator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="base__calculation__mediator_8cpp.html">base_calculation_mediator.cpp</a> <a href="base__calculation__mediator_8cpp_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:moveit__mediator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__mediator_8cpp.html">moveit_mediator.cpp</a> <a href="moveit__mediator_8cpp_source.html">[code]</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -50,7 +52,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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+++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.map
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+++ b/doc/html/dir_0197a5d81791167ca90f243ba28e7f5e_dep.md5
@@ -1 +1 @@
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index 2062aefba4b288134ad63bcc15dd81279cbf304c..ce03bcf8d9bdd7948ea46549aaea0768c46fa285 100644
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diff --git a/doc/html/dir_129dfe63f339df39af9b29f455952c18.html b/doc/html/dir_129dfe63f339df39af9b29f455952c18.html
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--- a/doc/html/dir_129dfe63f339df39af9b29f455952c18.html
+++ b/doc/html/dir_129dfe63f339df39af9b29f455952c18.html
@@ -32,7 +32,7 @@ Directory dependency graph for decorators:</div>
<map name="dir__129dfe63f339df39af9b29f455952c18__dep" id="dir__129dfe63f339df39af9b29f455952c18__dep">
<area shape="rect" href="dir_129dfe63f339df39af9b29f455952c18.html" title="decorators" alt="" coords="29,52,120,100"/>
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@@ -50,7 +50,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_129dfe63f339df39af9b29f455952c18_dep.map b/doc/html/dir_129dfe63f339df39af9b29f455952c18_dep.map
index f7aa82ceb759d458f4253d6d44d05bbda1743953..2680fbfe369ddfa84b3f1552ee87c299240cbd50 100644
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index adb3188b291f0cf9e8fc004a617803e2b3d6ab0b..e0dce33b6f09f34229b78976256425edd7bb9077 100644
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+++ b/doc/html/dir_213ed5268c3d3b5adb84b79e310ac6b7.html
@@ -32,7 +32,7 @@ Directory dependency graph for decorators:</div>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ur10__decorator_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="ur10__decorator_8cpp.html">ur10_decorator.cpp</a> <a href="ur10__decorator_8cpp_source.html">[code]</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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@@ -48,7 +52,7 @@ Files</h2></td></tr>
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<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">bt Directory Reference</div> </div>
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+<div class="contents">
+<div class="dynheader">
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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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
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<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
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Author(s): MA <matteo.aneddama@gmail.com></br />
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+++ /dev/null
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diff --git a/doc/html/dir_8f74abbdbad6e793f5da56469e42956a_dep.png b/doc/html/dir_8f74abbdbad6e793f5da56469e42956a_dep.png
deleted file mode 100644
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diff --git a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019.html b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019.html
index 30af828214eb93ccc9d20c6579e331c7de75b509..3d75a258c8e043478d733231498ca9d1a137bdab 100644
--- a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019.html
+++ b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019.html
@@ -31,7 +31,7 @@ Directory dependency graph for robot:</div>
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<map name="dir__a96b128c7c6c6ac354ec7533337bc019__dep" id="dir__a96b128c7c6c6ac354ec7533337bc019__dep">
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-<area shape="rect" href="dir_000010_000012.html" title="5" alt="" coords="192,133,201,148"/>
+<area shape="rect" href="dir_000008_000010.html" title="4" alt="" coords="192,133,201,148"/>
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<area shape="rect" href="dir_d44c64559bbebec7f509842c48db8b23.html" title="include" alt="" coords="16,16,245,132"/>
@@ -45,7 +45,7 @@ Directories</h2></td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a>
Files</h2></td></tr>
-<tr class="memitem:robot_2abstract__robot_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="robot_2abstract__robot_8h.html">robot/abstract_robot.h</a> <a href="robot_2abstract__robot_8h_source.html">[code]</a></td></tr>
+<tr class="memitem:abstract__robot_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="abstract__robot_8h.html">abstract_robot.h</a> <a href="abstract__robot_8h_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ceti__robot_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="ceti__robot_8h.html">ceti_robot.h</a> <a href="ceti__robot_8h_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
@@ -56,7 +56,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.map b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.map
index 33b736b9a30f6628d728d6164839732a41a98966..42646524c039986d62680e070818d2df7bce383f 100644
--- a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.map
+++ b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.map
@@ -1,6 +1,6 @@
<map id="robot" name="robot">
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diff --git a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.md5 b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.md5
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+++ b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.md5
@@ -1 +1 @@
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diff --git a/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.png b/doc/html/dir_a96b128c7c6c6ac354ec7533337bc019_dep.png
index 6c8e31a041b076f7e985d133855ac2ca2e5de72c..b3b9b1ff4b09ec95ce8789943c5023d16eb0d542 100644
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diff --git a/doc/html/dir_a9a3966004e74d386e58ffd98a25c86a.html b/doc/html/dir_a9a3966004e74d386e58ffd98a25c86a.html
index 2d918d336edc441b6894934ea62e110dabccff48..8523eabe5ec33164beca91f0da2da6c14db315e0 100644
--- a/doc/html/dir_a9a3966004e74d386e58ffd98a25c86a.html
+++ b/doc/html/dir_a9a3966004e74d386e58ffd98a25c86a.html
@@ -37,7 +37,7 @@ Directory dependency graph for decorators:</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a>
Files</h2></td></tr>
-<tr class="memitem:robot__element_2decorators_2abstract__robot__element__decorator_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="robot__element_2decorators_2abstract__robot__element__decorator_8h.html">robot_element/decorators/abstract_robot_element_decorator.h</a> <a href="robot__element_2decorators_2abstract__robot__element__decorator_8h_source.html">[code]</a></td></tr>
+<tr class="memitem:abstract__robot__element__decorator_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a> <a href="abstract__robot__element__decorator_8h_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:log__decorator_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="log__decorator_8h.html">log_decorator.h</a> <a href="log__decorator_8h_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
@@ -48,7 +48,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html b/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html
index b8baba1bdec3ae929ebecf5acefa31ef678ba537..bfa79dcc7ffea262200c4df754809e081a6bd393 100644
--- a/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html
+++ b/doc/html/dir_ac0d2b250ac9afd645907a18604af17d.html
@@ -32,15 +32,13 @@ Directory dependency graph for observers:</div>
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</div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a>
Files</h2></td></tr>
-<tr class="memitem:field_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="field_8cpp.html">field.cpp</a> <a href="field_8cpp_source.html">[code]</a></td></tr>
-<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:moveit__panel_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="moveit__panel_8cpp.html">moveit_panel.cpp</a> <a href="moveit__panel_8cpp_source.html">[code]</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:panel_8cpp"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="panel_8cpp.html">panel.cpp</a> <a href="panel_8cpp_source.html">[code]</a></td></tr>
@@ -54,7 +52,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_ac0d2b250ac9afd645907a18604af17d_dep.map b/doc/html/dir_ac0d2b250ac9afd645907a18604af17d_dep.map
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+++ b/doc/html/dir_ac0d2b250ac9afd645907a18604af17d_dep.map
@@ -1,6 +1,6 @@
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@@ -1 +1 @@
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diff --git a/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html b/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html
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+++ b/doc/html/dir_af89b2be539cdaaafaad341d1e56977e.html
@@ -32,7 +32,7 @@ Directory dependency graph for reader:</div>
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<area shape="rect" href="dir_af89b2be539cdaaafaad341d1e56977e.html" title="reader" alt="" coords="27,52,99,100"/>
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</div>
@@ -62,7 +62,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/dir_af89b2be539cdaaafaad341d1e56977e_dep.map b/doc/html/dir_af89b2be539cdaaafaad341d1e56977e_dep.map
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@@ -1,6 +1,6 @@
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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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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@@ -51,7 +51,7 @@ Files</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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+++ b/doc/html/dir_d44c64559bbebec7f509842c48db8b23.html
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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 Mon Mar 27 2023 19:07:14</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_3fa4fe7af966ee5402ed4c492cbb29ae.html">bt</a></li> </ul>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">execution.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="execution_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="execution_8h.html">bt/execution.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="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d"> 3</a></span> <a class="code" href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution::Execution</a>(<span class="keyword">const</span> std::string& name, <span class="keyword">const</span> BT::NodeConfiguration& config)</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : BT::StatefulActionNode(name, config) {}</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div>
+<div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa"> 6</a></span> BT::NodeStatus <a class="code" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution::onStart</a>(){</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  <span class="keywordflow">if</span> (<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> != <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.end()){</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->trajectory, <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->scene_diff);</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>->insert_or_assign(<a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), pair);</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>++;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  }</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  }</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b"> 17</a></span> BT::NodeStatus <a class="code" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a>(){</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordflow">if</span> (<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> != <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.end()){</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene> pair(<a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->trajectory, <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>->scene_diff);</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>->insert_or_assign(<a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), pair);</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>++;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  }</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> }</div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4"> 27</a></span> <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a>(){}</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5"> 29</a></span> <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a>(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions , <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr_reference, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets) {</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>= mr_reference;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a> = ets;</div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a> = <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>.solution.sub_trajectory.begin();</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a> = executions;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassExecution_html_ac66c28006ba68631a6cdcce5f6048eee"><div class="ttname"><a href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">Execution::it_</a></div><div class="ttdeci">std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator it_</div><div class="ttdoc">next iteration of ExecuteTaskSolutionGoal</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00028">execution.h:28</a></div></div>
+<div class="ttc" id="aclassExecution_html_aec2ad8cedc29fdf939ecb71ea778b94d"><div class="ttname"><a href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution::Execution</a></div><div class="ttdeci">Execution(const std::string &name, const BT::NodeConfiguration &config)</div><div class="ttdoc">constructor</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00003">execution.cpp:3</a></div></div>
+<div class="ttc" id="aclassExecution_html_a98656e2c9600aff97c412db421bc85d4"><div class="ttname"><a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a></div><div class="ttdeci">void onHalted() override</div><div class="ttdoc">Function called on halt.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00027">execution.cpp:27</a></div></div>
+<div class="ttc" id="aclassExecution_html_a9750aafd1107ea408aba7d31412b7b8b"><div class="ttname"><a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a></div><div class="ttdeci">BT::NodeStatus onRunning() override</div><div class="ttdoc">Function called while node is in running state.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00017">execution.cpp:17</a></div></div>
+<div class="ttc" id="aclassExecution_html_a9997472fbbaa6d0d3f9e6405148216aa"><div class="ttname"><a href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution::onStart</a></div><div class="ttdeci">BT::NodeStatus onStart() override</div><div class="ttdoc">Function called at first execution.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00006">execution.cpp:6</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_aa6ac3b0845c32dde50a90655ec0a6c97"><div class="ttname"><a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdoc">Redirects name call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00047">abstract_robot_decorator.h:47</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassExecution_html_a83220fdadaf176477154ccd44f1cf0b5"><div class="ttname"><a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a></div><div class="ttdeci">void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00029">execution.cpp:29</a></div></div>
+<div class="ttc" id="aclassExecution_html_a3e4eb097f9ed40ed2f27cb2199cb205f"><div class="ttname"><a href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">Execution::mr_reference_</a></div><div class="ttdeci">AbstractRobotDecorator * mr_reference_</div><div class="ttdoc">Reference to the robot.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00026">execution.h:26</a></div></div>
+<div class="ttc" id="aclassExecution_html_aa37ec3ca2032ee01f0f91670063c287a"><div class="ttname"><a href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">Execution::ets_</a></div><div class="ttdeci">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_</div><div class="ttdoc">ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00025">execution.h:25</a></div></div>
+<div class="ttc" id="aexecution_8h_html"><div class="ttname"><a href="execution_8h.html">execution.h</a></div></div>
+<div class="ttc" id="aclassExecution_html_adf786293daccae345032d30434e0b38a"><div class="ttname"><a href="classExecution.html#adf786293daccae345032d30434e0b38a">Execution::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * executions_</div><div class="ttdoc">trajetory and planningscene mapped to robot</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00027">execution.h:27</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">execution.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <behaviortree_cpp_v3/behavior_tree.h></code><br />
+<code>#include <behaviortree_cpp_v3/tree_node.h></code><br />
+<code>#include <behaviortree_cpp_v3/basic_types.h></code><br />
+<code>#include <behaviortree_cpp_v3/leaf_node.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 <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h></code><br />
+<code>#include "<a class="el" href="abstract__mediator_8h_source.html">mediator/abstract_mediator.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 />
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+Classes</h2></td></tr>
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+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode. <a href="classExecution.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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
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+</div>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">execution.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="execution_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 EXECUTION_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define EXECUTION_</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 <behaviortree_cpp_v3/behavior_tree.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <behaviortree_cpp_v3/tree_node.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <behaviortree_cpp_v3/basic_types.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <behaviortree_cpp_v3/leaf_node.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> <span class="preprocessor">#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h></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 "<a class="code" href="abstract__mediator_8h.html">mediator/abstract_mediator.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>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classExecution.html"> 23</a></span> <span class="keyword">class </span><a class="code" href="classExecution.html">Execution</a> : <span class="keyword">public</span> BT::StatefulActionNode{</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a"> 25</a></span>  moveit_task_constructor_msgs::ExecuteTaskSolutionGoal <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</a>; </div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f"> 26</a></span>  <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* <a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classExecution.html#adf786293daccae345032d30434e0b38a"> 27</a></span>  std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>; </div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee"> 28</a></span>  std::vector<moveit_task_constructor_msgs::SubTrajectory>::iterator <a class="code" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">it_</a>; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 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="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="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution</a>(<span class="keyword">const</span> std::string& name, <span class="keyword">const</span> BT::NodeConfiguration& config);</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="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">init</a>(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* <a class="code" href="classExecution.html#adf786293daccae345032d30434e0b38a">executions_</a>, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* <a class="code" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">mr_reference_</a>, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& <a class="code" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">ets_</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"><a class="line" href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42"> 49</a></span>  <span class="keyword">inline</span> <span class="keyword">static</span> BT::PortsList <a class="code" href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">providedPorts</a>() { <span class="keywordflow">return</span> {}; }</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  BT::NodeStatus <a class="code" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">onStart</a>() <span class="keyword">override</span>;</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>  BT::NodeStatus <a class="code" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">onRunning</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="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">void</span> <a class="code" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">onHalted</a>() <span class="keyword">override</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 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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassExecution_html_ac66c28006ba68631a6cdcce5f6048eee"><div class="ttname"><a href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">Execution::it_</a></div><div class="ttdeci">std::vector< moveit_task_constructor_msgs::SubTrajectory >::iterator it_</div><div class="ttdoc">next iteration of ExecuteTaskSolutionGoal</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00028">execution.h:28</a></div></div>
+<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aclassExecution_html_a2b7800cb7a292975c3df5e443710fe42"><div class="ttname"><a href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">Execution::providedPorts</a></div><div class="ttdeci">static BT::PortsList providedPorts()</div><div class="ttdoc">Required port interface.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00049">execution.h:49</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="aclassExecution_html_aec2ad8cedc29fdf939ecb71ea778b94d"><div class="ttname"><a href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution::Execution</a></div><div class="ttdeci">Execution(const std::string &name, const BT::NodeConfiguration &config)</div><div class="ttdoc">constructor</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00003">execution.cpp:3</a></div></div>
+<div class="ttc" id="aclassExecution_html"><div class="ttname"><a href="classExecution.html">Execution</a></div><div class="ttdoc">Execution node as StatefulActionNode.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00023">execution.h:23</a></div></div>
+<div class="ttc" id="aclassExecution_html_a98656e2c9600aff97c412db421bc85d4"><div class="ttname"><a href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution::onHalted</a></div><div class="ttdeci">void onHalted() override</div><div class="ttdoc">Function called on halt.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00027">execution.cpp:27</a></div></div>
+<div class="ttc" id="aclassExecution_html_a9750aafd1107ea408aba7d31412b7b8b"><div class="ttname"><a href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution::onRunning</a></div><div class="ttdeci">BT::NodeStatus onRunning() override</div><div class="ttdoc">Function called while node is in running state.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00017">execution.cpp:17</a></div></div>
+<div class="ttc" id="aclassExecution_html_a9997472fbbaa6d0d3f9e6405148216aa"><div class="ttname"><a href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution::onStart</a></div><div class="ttdeci">BT::NodeStatus onStart() override</div><div class="ttdoc">Function called at first execution.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00006">execution.cpp:6</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassExecution_html_a83220fdadaf176477154ccd44f1cf0b5"><div class="ttname"><a href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution::init</a></div><div class="ttdeci">void init(std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene >> *executions_, AbstractRobotDecorator *mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal &ets_)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8cpp_source.html#l00029">execution.cpp:29</a></div></div>
+<div class="ttc" id="aclassExecution_html_a3e4eb097f9ed40ed2f27cb2199cb205f"><div class="ttname"><a href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">Execution::mr_reference_</a></div><div class="ttdeci">AbstractRobotDecorator * mr_reference_</div><div class="ttdoc">Reference to the robot.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00026">execution.h:26</a></div></div>
+<div class="ttc" id="aclassExecution_html_aa37ec3ca2032ee01f0f91670063c287a"><div class="ttname"><a href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">Execution::ets_</a></div><div class="ttdeci">moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_</div><div class="ttdoc">ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00025">execution.h:25</a></div></div>
+<div class="ttc" id="aclassExecution_html_adf786293daccae345032d30434e0b38a"><div class="ttname"><a href="classExecution.html#adf786293daccae345032d30434e0b38a">Execution::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > * executions_</div><div class="ttdoc">trajetory and planningscene mapped to robot</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00027">execution.h:27</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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-<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>
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-<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>
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-<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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-<div class="title">field_rviz_decorator.cpp File Reference</div> </div>
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-<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>
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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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-<div class="title">field_rviz_decorator.cpp</div> </div>
-</div><!--header-->
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-<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>
-
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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>
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-<div class="contents">
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-<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 />
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-<a href="http://wiki.ros.org/multi_cell_builder">multi_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><!--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
index 36b49593a2110db2754a22fbaf19bfea13f2c458..b0ac691dabd09ed94864fbd9c94f3ae2ca87d490 100644
--- a/doc/html/files.html
+++ b/doc/html/files.html
@@ -25,85 +25,64 @@ $(function() {
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+<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="moveit__mediator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="moveit__mediator_8h.html" target="_self">moveit_mediator.h</a></td><td class="desc"></td></tr>
+<tr id="row_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="moveit__panel_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="moveit__panel_8cpp.html" target="_self">moveit_panel.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="moveit__panel_8h_source.html"><span class="icondoc"></span></a><a class="el" href="moveit__panel_8h.html" target="_self">moveit_panel.h</a></td><td class="desc"></td></tr>
+<tr id="row_32_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="mtc2taskspace_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="mtc2taskspace_8cpp.html" target="_self">mtc2taskspace.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_33_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="panda__decorator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="panda__decorator_8cpp.html" target="_self">panda_decorator.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_34_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="panda__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="panda__decorator_8h.html" target="_self">panda_decorator.h</a></td><td class="desc"></td></tr>
+<tr id="row_35_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="panel_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="panel_8cpp.html" target="_self">panel.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_36_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="panel_8h_source.html"><span class="icondoc"></span></a><a class="el" href="panel_8h.html" target="_self">panel.h</a></td><td class="desc"></td></tr>
+<tr id="row_37_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="parallel__robot_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="parallel__robot_8cpp.html" target="_self">parallel_robot.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_38_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="parallel__robot_8h_source.html"><span class="icondoc"></span></a><a class="el" href="parallel__robot_8h.html" target="_self">parallel_robot.h</a></td><td class="desc"></td></tr>
+<tr id="row_39_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="position__condition_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="position__condition_8cpp.html" target="_self">position_condition.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_40_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="position__condition_8h_source.html"><span class="icondoc"></span></a><a class="el" href="position__condition_8h.html" target="_self">position_condition.h</a></td><td class="desc"></td></tr>
+<tr id="row_41_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="robot__base__calculation__approach_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="robot__base__calculation__approach_8cpp.html" target="_self">robot_base_calculation_approach.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_42_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="robot__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="robot__reader_8cpp.html" target="_self">robot_reader.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_43_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="robot__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="robot__reader_8h.html" target="_self">robot_reader.h</a></td><td class="desc"></td></tr>
+<tr id="row_44_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="rviz__panel_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="rviz__panel_8cpp.html" target="_self">rviz_panel.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_45_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="rviz__panel_8h_source.html"><span class="icondoc"></span></a><a class="el" href="rviz__panel_8h.html" target="_self">rviz_panel.h</a></td><td class="desc"></td></tr>
+<tr id="row_46_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="simple__base_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="simple__base_8cpp.html" target="_self">simple_base.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_47_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="simple__base_8h_source.html"><span class="icondoc"></span></a><a class="el" href="simple__base_8h.html" target="_self">simple_base.h</a></td><td class="desc"></td></tr>
+<tr id="row_48_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="simple__base__implementation_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="simple__base__implementation_8cpp.html" target="_self">simple_base_implementation.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_49_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="simple__base__implementation_8h_source.html"><span class="icondoc"></span></a><a class="el" href="simple__base__implementation_8h.html" target="_self">simple_base_implementation.h</a></td><td class="desc"></td></tr>
+<tr id="row_50_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="task__space__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="task__space__reader_8cpp.html" target="_self">task_space_reader.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_51_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="task__space__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="task__space__reader_8h.html" target="_self">task_space_reader.h</a></td><td class="desc"></td></tr>
+<tr id="row_52_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ts__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="ts__reader_8cpp.html" target="_self">ts_reader.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_53_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ts__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="ts__reader_8h.html" target="_self">ts_reader.h</a></td><td class="desc"></td></tr>
+<tr id="row_54_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur10__decorator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="ur10__decorator_8cpp.html" target="_self">ur10_decorator.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_55_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur10__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="ur10__decorator_8h.html" target="_self">ur10_decorator.h</a></td><td class="desc"></td></tr>
+<tr id="row_56_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur5__decorator_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="ur5__decorator_8cpp.html" target="_self">ur5_decorator.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_57_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="ur5__decorator_8h_source.html"><span class="icondoc"></span></a><a class="el" href="ur5__decorator_8h.html" target="_self">ur5_decorator.h</a></td><td class="desc"></td></tr>
+<tr id="row_58_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="wing__reader_8cpp_source.html"><span class="icondoc"></span></a><a class="el" href="wing__reader_8cpp.html" target="_self">wing_reader.cpp</a></td><td class="desc"></td></tr>
+<tr id="row_59_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><a href="wing__reader_8h_source.html"><span class="icondoc"></span></a><a class="el" href="wing__reader_8h.html" target="_self">wing_reader.h</a></td><td class="desc"></td></tr>
</table>
</div><!-- directory -->
</div><!-- contents -->
@@ -112,7 +91,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions.html b/doc/html/functions.html
index 93f2051e36c21542cac991c126d556768f306073..75f54a4924e50d06f0a07209609779e56e2c54c5 100644
--- a/doc/html/functions.html
+++ b/doc/html/functions.html
@@ -20,58 +20,38 @@ $(function() {
<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>AbstractBase()
+: <a class="el" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a>
</li>
-<li>Abstract_base_implementation()
-: <a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>
+<li>AbstractBaseImplementation()
+: <a class="el" href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation</a>
</li>
-<li>Abstract_map_loader()
-: <a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>
+<li>AbstractMediator()
+: <a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>
</li>
-<li>Abstract_mediator()
-: <a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>
+<li>AbstractParamReader()
+: <a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>
</li>
-<li>Abstract_param_reader()
-: <a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>
+<li>AbstractRobot()
+: <a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>
</li>
-<li>Abstract_robot()
-: <a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>
+<li>AbstractRobotDecorator()
+: <a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>
</li>
-<li>Abstract_robot_decorator()
-: <a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>
+<li>AbstractRobotElement()
+: <a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</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>AbstractRobotElementDecorator()
+: <a class="el" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</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>
+: <a class="el" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator</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>
+: <a class="el" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">BaseCalculationMediator</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>areaCalculation()
+: <a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">AbstractRobot</a>
</li>
</ul>
</div><!-- contents -->
@@ -80,7 +60,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_b.html b/doc/html/functions_b.html
index d6873a8a2019ef08cabfb8d7996e4a16b7744b89..63269eace2b7fc63c3cc578824a41a3aa9573317 100644
--- a/doc/html/functions_b.html
+++ b/doc/html/functions_b.html
@@ -20,38 +20,24 @@ $(function() {
<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>baseCalculation()
+: <a class="el" href="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">AbstractBase</a>
+, <a class="el" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">SimpleBase</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>BaseCalculationMediator()
+: <a class="el" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator</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="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">AbstractRobotElementDecorator</a>
+, <a class="el" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">CetiRobot</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>
+: <a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">AbstractRobotElement</a>
</li>
</ul>
</div><!-- contents -->
@@ -60,7 +46,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_c.html b/doc/html/functions_c.html
index b0a4538003310e9b5f2293b0ec266fab5c86255b..d19dbbb3719f2db0ed651a29b6affec4d991fbef 100644
--- a/doc/html/functions_c.html
+++ b/doc/html/functions_c.html
@@ -20,84 +20,58 @@ $(function() {
<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>
+: <a class="el" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">BaseCalculationMediator</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>calcWorldTf()
+: <a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">AbstractRobotElement</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>cartesian_planner_
+: <a class="el" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator</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>CetiRobot()
+: <a class="el" href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot</a>
</li>
-<li>collision_detector()
-: <a class="el" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper</a>
+<li>checkCollision()
+: <a class="el" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">BaseCalculationMediator</a>
</li>
-<li>Collision_helper()
-: <a class="el" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a>
+<li>checkSingleObjectCollision()
+: <a class="el" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot</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>cloudCalculation()
+: <a class="el" href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">AbstractBaseImplementation</a>
+, <a class="el" href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">SimpleBaseImplementation</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>connectRobots()
+: <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a>
+, <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</a>
</li>
-<li>create_Task()
-: <a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator</a>
+<li>createPCLBox()
+: <a class="el" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">AbstractBase</a>
</li>
-<li>cuboid_bin()
-: <a class="el" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">Cuboid_reader</a>
+<li>createTask()
+: <a class="el" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator</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>
+: <a class="el" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">CuboidReader</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>
+: <a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader</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>
+: <a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator</a>
+</li>
+<li>cuboidBin()
+: <a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">CuboidReader</a>
+</li>
+<li>cuboidObstacle()
+: <a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">CuboidReader</a>
+</li>
+<li>CuboidReader()
+: <a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -106,7 +80,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_d.html b/doc/html/functions_d.html
index 53eee2ff80c5a360a792caad470d8f3a8594eb0f..77f8d4da0df545b13368332d1f565e2a4eb59816 100644
--- a/doc/html/functions_d.html
+++ b/doc/html/functions_d.html
@@ -21,16 +21,16 @@ $(function() {
<h3><a id="index_d"></a>- d -</h3><ul>
<li>dirname()
-: <a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">AbstractMediator</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>
+: <a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">AbstractMediator</a>
</li>
<li>drop_off_data_
-: <a class="el" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">Ts_reader</a>
+: <a class="el" href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">TSReader</a>
+</li>
+<li>dropOffData()
+: <a class="el" href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">TSReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -39,7 +39,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_e.html b/doc/html/functions_e.html
new file mode 100644
index 0000000000000000000000000000000000000000..49c4c2e18b4172cecdcc74d0443197d99e00ae66
--- /dev/null
+++ b/doc/html/functions_e.html
@@ -0,0 +1,46 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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_e"></a>- e -</h3><ul>
+<li>ets_
+: <a class="el" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">Execution</a>
+</li>
+<li>Execution()
+: <a class="el" href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution</a>
+</li>
+<li>executions()
+: <a class="el" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">MoveitMediator</a>
+</li>
+<li>executions_
+: <a class="el" href="classExecution.html#adf786293daccae345032d30434e0b38a">Execution</a>
+, <a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator</a>
+</li>
+</ul>
+</div><!-- contents -->
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_f.html b/doc/html/functions_f.html
index dc93b2792f7743ff9250c287a1e8fcade73b0f60..89cc9247d61a4a2959c72c70c3a1d43f032e086a 100644
--- a/doc/html/functions_f.html
+++ b/doc/html/functions_f.html
@@ -20,14 +20,17 @@ $(function() {
<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>failure_threshold_
+: <a class="el" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">Parallel_robot</a>
</li>
-<li>Field_rviz_decorator()
-: <a class="el" href="classField__rviz__decorator.html#aa88d9d5da860369d94420f6db716016c">Field_rviz_decorator</a>
+<li>failureThreshold()
+: <a class="el" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">Parallel_robot</a>
</li>
-<li>float_of()
-: <a class="el" href="classAbstract__param__reader.html#a107d1be3e232087e003820c9a924b2dd">Abstract_param_reader</a>
+<li>filename_
+: <a class="el" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">BaseCalculationMediator</a>
+</li>
+<li>floatOf()
+: <a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -36,7 +39,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func.html b/doc/html/functions_func.html
index 5a71c18fc6b1b0411d3b0d6a152fce2570a6ca31..701e310cc3183428a32bae46a16b7a3ab2ef08da 100644
--- a/doc/html/functions_func.html
+++ b/doc/html/functions_func.html
@@ -20,51 +20,35 @@ $(function() {
 
<h3><a id="index_a"></a>- a -</h3><ul>
-<li>Abstract_base()
-: <a class="el" href="classAbstract__base.html#a68300edaeff45edafe777bc4f7be2433">Abstract_base</a>
+<li>AbstractBase()
+: <a class="el" href="classAbstractBase.html#a1458e9649f0b5648ddb21c7bcbbf64d1">AbstractBase</a>
</li>
-<li>Abstract_base_implementation()
-: <a class="el" href="classAbstract__base__implementation.html#aefda2aa1684b1d8f5db48e999db2e05b">Abstract_base_implementation</a>
+<li>AbstractBaseImplementation()
+: <a class="el" href="classAbstractBaseImplementation.html#a5fa7fc17adff1ffa369ba838e84105cd">AbstractBaseImplementation</a>
</li>
-<li>Abstract_map_loader()
-: <a class="el" href="classAbstract__map__loader.html#a408d265bc42bdbb25b2db44b9533e668">Abstract_map_loader</a>
+<li>AbstractMediator()
+: <a class="el" href="classAbstractMediator.html#af50d0f408fcef5404043ba49627b42a1">AbstractMediator</a>
</li>
-<li>Abstract_mediator()
-: <a class="el" href="classAbstract__mediator.html#a42b339e1ffa0b206129cc11fa300b217">Abstract_mediator</a>
+<li>AbstractParamReader()
+: <a class="el" href="classAbstractParamReader.html#a76f530a69e2f976e7fb9551163764a3c">AbstractParamReader</a>
</li>
-<li>Abstract_param_reader()
-: <a class="el" href="classAbstract__param__reader.html#a734c0833347f6d686f280031b3219de0">Abstract_param_reader</a>
+<li>AbstractRobot()
+: <a class="el" href="classAbstractRobot.html#ae9767037bd216136e3a8619061d6784c">AbstractRobot</a>
</li>
-<li>Abstract_robot()
-: <a class="el" href="classAbstract__robot.html#ac94e9d3520fdbcd027682226f4b0be8f">Abstract_robot</a>
+<li>AbstractRobotDecorator()
+: <a class="el" href="classAbstractRobotDecorator.html#ab13a5c4b37f6a90b723065e01d056e12">AbstractRobotDecorator</a>
</li>
-<li>Abstract_robot_decorator()
-: <a class="el" href="classAbstract__robot__decorator.html#a9049f28e67b6457114a2b575587de4d4">Abstract_robot_decorator</a>
+<li>AbstractRobotElement()
+: <a class="el" href="classAbstractRobotElement.html#aade8e84adb9ccb5feb0bd55feba55f73">AbstractRobotElement</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>AbstractRobotElementDecorator()
+: <a class="el" href="classAbstractRobotElementDecorator.html#a3d5875ff7547ee6f7f54336241e5d6b0">AbstractRobotElementDecorator</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>
+: <a class="el" href="classBaseCalculationMediator.html#ad0821305631031904031b6ca17c9b278">BaseCalculationMediator</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>areaCalculation()
+: <a class="el" href="classAbstractRobot.html#a7456945dfc21ee6cc53bd05c932d95b1">AbstractRobot</a>
</li>
</ul>
</div><!-- contents -->
@@ -73,7 +57,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_b.html b/doc/html/functions_func_b.html
index c596ff5a44736612c3532fbc5a1795ceaa9b7c76..7c6e8e8578b89f97c83ecb90b7d1eec0acc2e9ab 100644
--- a/doc/html/functions_func_b.html
+++ b/doc/html/functions_func_b.html
@@ -20,33 +20,20 @@ $(function() {
 
<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>baseCalculation()
+: <a class="el" href="classAbstractBase.html#ab29d5601f63747bd5716af34b69b1657">AbstractBase</a>
+, <a class="el" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">SimpleBase</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>BaseCalculationMediator()
+: <a class="el" href="classBaseCalculationMediator.html#a473e10b5d9be7303626d19c376bfb989">BaseCalculationMediator</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="classAbstractRobot.html#a1c60ec2481b135b4897896d0a6b4ef47">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a8da3e89f0a42ec0956a5adc80d2b8816">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElement.html#a54227cc56d5d9fde531d32cf9d70ba75">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#a2a417f0566c07714c2abe6586a4577be">AbstractRobotElementDecorator</a>
+, <a class="el" href="classCetiRobot.html#a95281ac8e16b0286e8e54cc780470551">CetiRobot</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 -->
@@ -55,7 +42,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_c.html b/doc/html/functions_func_c.html
index 3be843449be7f1cd094f638b613ae0643e780b41..e4ff8e3ba980c004c873a94fa0f57f89faf53327 100644
--- a/doc/html/functions_func_c.html
+++ b/doc/html/functions_func_c.html
@@ -20,67 +20,46 @@ $(function() {
 
<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>
+: <a class="el" href="classBaseCalculationMediator.html#a71b1c29a63fb269359155c9da5bd98dd">BaseCalculationMediator</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>calcWorldTf()
+: <a class="el" href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">AbstractRobotElement</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>CetiRobot()
+: <a class="el" href="classCetiRobot.html#a7129c9941dd3d638b1f7916302814031">CetiRobot</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>checkCollision()
+: <a class="el" href="classBaseCalculationMediator.html#ad0a7b1bdcbb5cf791e21ef6a54d27b9c">BaseCalculationMediator</a>
</li>
-<li>collision_detector()
-: <a class="el" href="classCollision__helper.html#a0969d2a29f043ad3509bf174ecc103ec">Collision_helper</a>
+<li>checkSingleObjectCollision()
+: <a class="el" href="classAbstractRobot.html#a8ffaf43fd68ff397dc4e3768cf6ebe67">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a66c56af565343dcabfdc2e200010501f">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#aec53b09b5915dd3f444567a5fb821f79">CetiRobot</a>
</li>
-<li>Collision_helper()
-: <a class="el" href="classCollision__helper.html#a1637a6d6db9a3a3458ab0eec053c5d9a">Collision_helper</a>
+<li>cloudCalculation()
+: <a class="el" href="classAbstractBaseImplementation.html#a8b67007295cf1886c29be65fe7ed567b">AbstractBaseImplementation</a>
+, <a class="el" href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">SimpleBaseImplementation</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>connectRobots()
+: <a class="el" href="classAbstractMediator.html#ab33c369fe48c88295f9cbdcabe68ddad">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#a475d026e0344626a5b68f7a8db3b4f5a">BaseCalculationMediator</a>
+, <a class="el" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator</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>createPCLBox()
+: <a class="el" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">AbstractBase</a>
</li>
-<li>create_Task()
-: <a class="el" href="classMoveit__mediator.html#a7582bb7618f935c486681d9435fc02e5">Moveit_mediator</a>
+<li>createTask()
+: <a class="el" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator</a>
</li>
-<li>cuboid_bin()
-: <a class="el" href="classCuboid__reader.html#a3f80a47bd3b32eb3daaa7ee4c9dbd670">Cuboid_reader</a>
+<li>cuboidBin()
+: <a class="el" href="classCuboidReader.html#a2bc121e539f485a3aab88b4b57b9de9b">CuboidReader</a>
</li>
-<li>cuboid_obstacle()
-: <a class="el" href="classCuboid__reader.html#a499edb06157aac6287cdf683b0316a8b">Cuboid_reader</a>
+<li>cuboidObstacle()
+: <a class="el" href="classCuboidReader.html#a986635198367e1d869e1dcaccb021827">CuboidReader</a>
</li>
-<li>Cuboid_reader()
-: <a class="el" href="classCuboid__reader.html#a23a0d80e92f06c576ee242239f27a68f">Cuboid_reader</a>
+<li>CuboidReader()
+: <a class="el" href="classCuboidReader.html#a2a0fc34bf937185bdbda05e008ada8e1">CuboidReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -89,7 +68,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_d.html b/doc/html/functions_func_d.html
index 74bf655c85929976687df2719777ba69d8c341fd..c84fbc6f2588f660c1da0123226dee5479c0a43d 100644
--- a/doc/html/functions_func_d.html
+++ b/doc/html/functions_func_d.html
@@ -21,10 +21,10 @@ $(function() {
<h3><a id="index_d"></a>- d -</h3><ul>
<li>dirname()
-: <a class="el" href="classAbstract__mediator.html#ad651113a7bd5059643177c7b5fc08b8d">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a2e0808dd0543e36562ff7074241a37c6">AbstractMediator</a>
</li>
-<li>drop_off_data()
-: <a class="el" href="classTs__reader.html#a53d3f559a9b1d43b6bedf321849a81fe">Ts_reader</a>
+<li>dropOffData()
+: <a class="el" href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">TSReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -33,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/globals_vars.html b/doc/html/functions_func_e.html
similarity index 67%
rename from doc/html/globals_vars.html
rename to doc/html/functions_func_e.html
index e74467da92435562cc103bfb447bb52bbba159e6..4b8ea0e40af7be197963ffa01cdaadafc22f41c3 100644
--- a/doc/html/globals_vars.html
+++ b/doc/html/functions_func_e.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: File Members</title>
+<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>
@@ -17,15 +17,14 @@ $(function() {
<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>
+ 
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>Execution()
+: <a class="el" href="classExecution.html#aec2ad8cedc29fdf939ecb71ea778b94d">Execution</a>
</li>
-<li>task_writing
-: <a class="el" href="moveit__mediator_8cpp.html#a3b3de631e576c4bb7c9567578f6f4ad2">moveit_mediator.cpp</a>
+<li>executions()
+: <a class="el" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">MoveitMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -34,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_f.html b/doc/html/functions_func_f.html
index c0cd800fbdf21468f6186644faf33f3b7cda622b..21fd6041914be7db4cc2c85521a3fef97296d7f9 100644
--- a/doc/html/functions_func_f.html
+++ b/doc/html/functions_func_f.html
@@ -20,14 +20,11 @@ $(function() {
 
<h3><a id="index_f"></a>- f -</h3><ul>
-<li>Field()
-: <a class="el" href="classField.html#a3937b0953056acede15814ada1053f9a">Field</a>
+<li>failureThreshold()
+: <a class="el" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">Parallel_robot</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>floatOf()
+: <a class="el" href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -36,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_g.html b/doc/html/functions_func_g.html
index 8b632268f4fd76d3607bd8c69fea0537ab3b244e..8d6a047a3bcbeabb6cfb63468673b3f1201dbb75 100644
--- a/doc/html/functions_func_g.html
+++ b/doc/html/functions_func_g.html
@@ -20,25 +20,8 @@ $(function() {
 
<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>generateGrounds()
+: <a class="el" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -47,7 +30,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_h.html b/doc/html/functions_func_h.html
new file mode 100644
index 0000000000000000000000000000000000000000..2e7ad5fcf4a014b4ecfadc5f533b37fbab6cbd95
--- /dev/null
+++ b/doc/html/functions_func_h.html
@@ -0,0 +1,36 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members - Functions</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+ initMenu('',false,false,'search.php','Search');
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div class="contents">
+ 
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>halt()
+: <a class="el" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">Parallel_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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_func_i.html b/doc/html/functions_func_i.html
index e86580fbfcf74680bdbf358998f60f40e4538449..241e1bd01b124a45dd148a23e3a0507d0524a613 100644
--- a/doc/html/functions_func_i.html
+++ b/doc/html/functions_func_i.html
@@ -21,30 +21,25 @@ $(function() {
<h3><a id="index_i"></a>- i -</h3><ul>
<li>implementation()
-: <a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">Abstract_base</a>
+: <a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">AbstractBase</a>
</li>
-<li>in_collision()
-: <a class="el" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot</a>
+<li>inCollision()
+: <a class="el" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">CetiRobot</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>init()
+: <a class="el" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution</a>
+, <a class="el" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">PositionCondition</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>inputFilter()
+: <a class="el" href="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">AbstractRobotElementDecorator</a>
+, <a class="el" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">LogDecorator</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>invMap()
+: <a class="el" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">AbstractBase</a>
</li>
-<li>isStateValid()
-: <a class="el" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator</a>
+<li>invMapCreation()
+: <a class="el" href="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">AbstractBaseImplementation</a>
+, <a class="el" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">SimpleBaseImplementation</a>
</li>
</ul>
</div><!-- contents -->
@@ -53,7 +48,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_j.html b/doc/html/functions_func_j.html
index 1cf31e5f4a2d45302c804278e80802c6b4ca35ac..9257536fd0a4a811203737c97f40afbe3bfb3156 100644
--- a/doc/html/functions_func_j.html
+++ b/doc/html/functions_func_j.html
@@ -20,8 +20,8 @@ $(function() {
 
<h3><a id="index_j"></a>- j -</h3><ul>
-<li>Job_reader()
-: <a class="el" href="classJob__reader.html#a72439a3fe9612af7b44bbf2f5131481a">Job_reader</a>
+<li>JobReader()
+: <a class="el" href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">JobReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -30,7 +30,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_l.html b/doc/html/functions_func_l.html
index c278f75451a3fcf8e147c618dca48e52daf3f494..7e0935be6ec682881098765bc4d6d29920e574bb 100644
--- a/doc/html/functions_func_l.html
+++ b/doc/html/functions_func_l.html
@@ -20,8 +20,8 @@ $(function() {
 
<h3><a id="index_l"></a>- l -</h3><ul>
-<li>Log_decorator()
-: <a class="el" href="classLog__decorator.html#abac3ce8b5ef982e3a030a152cfcc2290">Log_decorator</a>
+<li>LogDecorator()
+: <a class="el" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator</a>
</li>
</ul>
</div><!-- contents -->
@@ -30,7 +30,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_m.html b/doc/html/functions_func_m.html
index 73c99f11bd1738f2dac6bd5e43487e8d39275dd5..a6d9a0e0815f3edefddbb30aacbe478e051426c7 100644
--- a/doc/html/functions_func_m.html
+++ b/doc/html/functions_func_m.html
@@ -20,69 +20,45 @@ $(function() {
 
<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>manipulateACM()
+: <a class="el" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator</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>
+: <a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">AbstractBase</a>
</li>
-<li>Map_loader()
-: <a class="el" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a>
+<li>mapData()
+: <a class="el" href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">MapReader</a>
</li>
-<li>Map_reader()
-: <a class="el" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a>
+<li>MapReader()
+: <a class="el" href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">MapReader</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>
+: <a class="el" href="classMoveitPanel.html#a2a5bd27deda20024bde9c4ab5d9dd779">MoveitPanel</a>
+, <a class="el" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">RvizPanel</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>
+: <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a>
+, <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a>
</li>
-<li>Mediator()
-: <a class="el" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a>
+<li>mergeACM()
+: <a class="el" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator</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>mergePS()
+: <a class="el" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">AbstractRobotDecorator</a>
+, <a class="el" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">MoveitMediator</a>
</li>
-<li>Moveit_mediator()
-: <a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>
+<li>mgiHand()
+: <a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">AbstractRobotDecorator</a>
</li>
-<li>Moveit_panel()
-: <a class="el" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a>
+<li>MoveitMediator()
+: <a class="el" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>
</li>
-<li>Moveit_robot()
-: <a class="el" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</a>
+<li>MoveitPanel()
+: <a class="el" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel</a>
</li>
</ul>
</div><!-- contents -->
@@ -91,7 +67,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_n.html b/doc/html/functions_func_n.html
index cbfce6822d0a3e091ec77f72f734bbf91da7ddaf..2da2f1efaea330a02a3a5bb9ae5035bd961ce4eb 100644
--- a/doc/html/functions_func_n.html
+++ b/doc/html/functions_func_n.html
@@ -21,24 +21,21 @@ $(function() {
<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="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">AbstractRobotElementDecorator</a>
+, <a class="el" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">CetiRobot</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>
+: <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">AbstractRobotElementDecorator</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>
+: <a class="el" href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot</a>
</li>
</ul>
</div><!-- contents -->
@@ -47,7 +44,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_o.html b/doc/html/functions_func_o.html
index cadfbe4833b96a37294548e4fc57a17a9b7bffc8..4882ab5c4e93040338aa5cc87373d81dc731e446 100644
--- a/doc/html/functions_func_o.html
+++ b/doc/html/functions_func_o.html
@@ -20,20 +20,24 @@ $(function() {
 
<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>observerMask()
+: <a class="el" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">CetiRobot</a>
</li>
<li>observers()
-: <a class="el" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot</a>
-, <a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot</a>
+: <a class="el" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">CetiRobot</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>onHalted()
+: <a class="el" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution</a>
+</li>
+<li>onRunning()
+: <a class="el" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution</a>
+</li>
+<li>onStart()
+: <a class="el" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution</a>
+</li>
+<li>outputFilter()
+: <a class="el" href="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">AbstractRobotElementDecorator</a>
+, <a class="el" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">LogDecorator</a>
</li>
</ul>
</div><!-- contents -->
@@ -42,7 +46,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_p.html b/doc/html/functions_func_p.html
index 37448585ea23cca4648087a2495bb017d264b725..6798cec49e6ab38fb80ceb2b4c23daea85792270 100644
--- a/doc/html/functions_func_p.html
+++ b/doc/html/functions_func_p.html
@@ -20,27 +20,34 @@ $(function() {
 
<h3><a id="index_p"></a>- p -</h3><ul>
-<li>Panda_decorator()
-: <a class="el" href="classPanda__decorator.html#aa06d746a0cb43e4f30780289f606e5cb">Panda_decorator</a>
+<li>PandaDecorator()
+: <a class="el" href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator</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>Parallel_robot()
+: <a class="el" href="classParallel__robot.html#a271c718a61caa49962844920702423ab">Parallel_robot</a>
</li>
-<li>planFullGrasp()
-: <a class="el" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator</a>
+<li>parallelExec()
+: <a class="el" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator</a>
</li>
-<li>planPreApproach()
-: <a class="el" href="classMoveit__grasp__mediator.html#aa27d054a12c40a0e4fe3e94da271df83">Moveit_grasp_mediator</a>
+<li>pattern()
+: <a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">AbstractRobotDecorator</a>
+</li>
+<li>PositionCondition()
+: <a class="el" href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition</a>
+</li>
+<li>providedPorts()
+: <a class="el" href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">Execution</a>
+, <a class="el" href="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192">Parallel_robot</a>
+, <a class="el" href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">PositionCondition</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>
+: <a class="el" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator</a>
</li>
-<li>publish_tables()
-: <a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator</a>
+<li>publishTables()
+: <a class="el" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -49,7 +56,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_r.html b/doc/html/functions_func_r.html
index fa3740b4177a2d13562558ee272909a24b5a7bd5..ec1c4c784c18e34ff7a166f43973d4f344320d7b 100644
--- a/doc/html/functions_func_r.html
+++ b/doc/html/functions_func_r.html
@@ -21,63 +21,55 @@ $(function() {
<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>
+: <a class="el" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</a>
+, <a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader</a>
+, <a class="el" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">JobReader</a>
+, <a class="el" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">MapReader</a>
+, <a class="el" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">RobotReader</a>
+, <a class="el" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">TaskSpaceReader</a>
+, <a class="el" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">TSReader</a>
+, <a class="el" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">WingReader</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>relativeTf()
+: <a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">AbstractRobotElement</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>
+: <a class="el" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">CetiRobot</a>
</li>
-<li>rewrite_task_template()
-: <a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator</a>
+<li>result()
+: <a class="el" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">AbstractBase</a>
</li>
-<li>Robot()
-: <a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>
+<li>resultVector()
+: <a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator</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>robotData()
+: <a class="el" href="classJobReader.html#a56accc7df48201c78715c22195e4965e">JobReader</a>
+, <a class="el" href="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">RobotReader</a>
</li>
-<li>robot_reader()
-: <a class="el" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">Base_calculation_mediator</a>
+<li>robotReader()
+: <a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">AbstractMediator</a>
</li>
-<li>Robot_reader()
-: <a class="el" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a>
+<li>RobotReader()
+: <a class="el" href="classRobotReader.html#a9e0259fb4a4d4a0e708cbac2f07baf7d">RobotReader</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>robotRootBounds()
+: <a class="el" href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">CetiRobot</a>
</li>
<li>robots()
-: <a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">AbstractMediator</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>rootTf()
+: <a class="el" href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">CetiRobot</a>
</li>
<li>rotate()
-: <a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">AbstractRobot</a>
</li>
-<li>Rviz_panel()
-: <a class="el" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</a>
+<li>RvizPanel()
+: <a class="el" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel</a>
</li>
</ul>
</div><!-- contents -->
@@ -86,7 +78,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_s.html b/doc/html/functions_func_s.html
index 03c4ef107cc9e1459b39e41330ebd70790d5373c..17ce7c2602ba8a80f420d2db28eea65eeb5902f6 100644
--- a/doc/html/functions_func_s.html
+++ b/doc/html/functions_func_s.html
@@ -20,142 +20,124 @@ $(function() {
 
<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>sceneCollision()
+: <a class="el" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator</a>
</li>
-<li>set_cuboid_bin_data()
-: <a class="el" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">Cuboid_reader</a>
+<li>setCuboidBinData()
+: <a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">CuboidReader</a>
</li>
-<li>set_cuboid_obstacle_data()
-: <a class="el" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">Cuboid_reader</a>
+<li>setCuboidObstacleData()
+: <a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">CuboidReader</a>
</li>
-<li>set_dirname()
-: <a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator</a>
+<li>setDirname()
+: <a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator</a>
</li>
-<li>set_drop_off_data()
-: <a class="el" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">Ts_reader</a>
+<li>setDropOffData()
+: <a class="el" href="classTSReader.html#ada36eead572d86a77bc8fed723090079">TSReader</a>
</li>
-<li>set_grasp_map_generator()
-: <a class="el" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">Moveit_robot</a>
+<li>setFailureThreshold()
+: <a class="el" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">Parallel_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>setGraspOrientations()
+: <a class="el" href="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">AbstractBaseImplementation</a>
+, <a class="el" href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">SimpleBaseImplementation</a>
</li>
-<li>set_implementation()
-: <a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">Abstract_base</a>
+<li>setImplementation()
+: <a class="el" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">AbstractBase</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>setInvMap()
+: <a class="el" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">AbstractBase</a>
</li>
-<li>set_job_data()
-: <a class="el" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">Job_reader</a>
+<li>setJobData()
+: <a class="el" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">JobReader</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>setMap()
+: <a class="el" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">AbstractBase</a>
</li>
-<li>set_map_data()
-: <a class="el" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">Map_reader</a>
+<li>setMapData()
+: <a class="el" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">MapReader</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>setName()
+: <a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">Panel</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>setObserverMask()
+: <a class="el" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot</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>setObservers()
+: <a class="el" href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">CetiRobot</a>
</li>
-<li>set_panel()
-: <a class="el" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator</a>
+<li>setPanel()
+: <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a>
+, <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a>
</li>
-<li>set_relative_tf()
-: <a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">Abstract_robot_element</a>
+<li>setRelativeTf()
+: <a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">AbstractRobotElement</a>
</li>
-<li>set_result_vector()
-: <a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">Abstract_mediator</a>
+<li>setResult()
+: <a class="el" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">AbstractBase</a>
</li>
-<li>set_robot_data()
-: <a class="el" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">Robot_reader</a>
+<li>setResultVector()
+: <a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">AbstractMediator</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>setRobotData()
+: <a class="el" href="classRobotReader.html#a6a37901b3e94eb461e7b16ed775be141">RobotReader</a>
</li>
-<li>set_strategy()
-: <a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">Abstract_map_loader</a>
+<li>setSize()
+: <a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">Panel</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>setSuccessThreshold()
+: <a class="el" href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">Parallel_robot</a>
</li>
-<li>set_target_rot()
-: <a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">Abstract_map_loader</a>
+<li>setTargetCloud()
+: <a class="el" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">AbstractBase</a>
</li>
-<li>set_task_grasps()
-: <a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">Abstract_map_loader</a>
+<li>setTasks()
+: <a class="el" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">MoveitMediator</a>
</li>
-<li>set_task_space()
-: <a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">Abstract_base</a>
+<li>setTaskSpace()
+: <a class="el" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">AbstractBase</a>
</li>
-<li>set_tasks()
-: <a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">Moveit_mediator</a>
+<li>setTf()
+: <a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">AbstractRobot</a>
</li>
-<li>set_tf()
-: <a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot</a>
+<li>setupRviz()
+: <a class="el" href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">BaseCalculationMediator</a>
</li>
-<li>set_wing_data()
-: <a class="el" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">Wing_reader</a>
+<li>setWingData()
+: <a class="el" href="classWingReader.html#acb93724c3512641f05c689c0e846f096">WingReader</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>setWorldTf()
+: <a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">AbstractRobotElement</a>
</li>
-<li>set_world_tf()
-: <a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">Abstract_robot_element</a>
+<li>SimpleBase()
+: <a class="el" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase</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>SimpleBaseImplementation()
+: <a class="el" href="classSimpleBaseImplementation.html#ae0ebda1d0ec6d77eec3a48c99b3ede2d">SimpleBaseImplementation</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="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">AbstractRobotElementDecorator</a>
+, <a class="el" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot</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>spezifieRobotGroups()
+: <a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">AbstractRobotDecorator</a>
+, <a class="el" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">PandaDecorator</a>
+, <a class="el" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">UR10Decorator</a>
+, <a class="el" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">UR5Decorator</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>spezifieRootBounds()
+: <a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">AbstractRobotDecorator</a>
+, <a class="el" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">PandaDecorator</a>
+, <a class="el" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">UR10Decorator</a>
+, <a class="el" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">UR5Decorator</a>
</li>
-<li>strategy()
-: <a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">Abstract_map_loader</a>
+<li>successThreshold()
+: <a class="el" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">Parallel_robot</a>
</li>
</ul>
</div><!-- contents -->
@@ -164,7 +146,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_t.html b/doc/html/functions_func_t.html
index dc29c12c790f5445021651244808b6edc951e2ce..0c5c0d90038416ec00da6cd75b0b927cb9421ee1 100644
--- a/doc/html/functions_func_t.html
+++ b/doc/html/functions_func_t.html
@@ -20,38 +20,35 @@ $(function() {
 
<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>targetCloud()
+: <a class="el" href="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">AbstractBase</a>
</li>
-<li>target_rot()
-: <a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">Abstract_map_loader</a>
+<li>taskMap()
+: <a class="el" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">MoveitMediator</a>
</li>
-<li>task_grasps()
-: <a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader</a>
+<li>taskPlanner()
+: <a class="el" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator</a>
</li>
-<li>task_map()
-: <a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">Moveit_mediator</a>
+<li>taskSpace()
+: <a class="el" href="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">AbstractBase</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>TaskSpaceReader()
+: <a class="el" href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">TaskSpaceReader</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>
+: <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot</a>
+</li>
+<li>tick()
+: <a class="el" href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">Parallel_robot</a>
+, <a class="el" href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">PositionCondition</a>
</li>
<li>translate()
-: <a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">AbstractRobot</a>
</li>
-<li>Ts_reader()
-: <a class="el" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</a>
+<li>TSReader()
+: <a class="el" href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">TSReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -60,7 +57,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_u.html b/doc/html/functions_func_u.html
index 4ddfd284d79c0e05b90116231f820e212e82ef68..1a64fd4672460add4f671a932776c74e6dff30a7 100644
--- a/doc/html/functions_func_u.html
+++ b/doc/html/functions_func_u.html
@@ -21,17 +21,18 @@ $(function() {
<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="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator</a>
+, <a class="el" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">LogDecorator</a>
+, <a class="el" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">MoveitPanel</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>
+, <a class="el" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel</a>
+</li>
+<li>UR10Decorator()
+: <a class="el" href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator</a>
+</li>
+<li>UR5Decorator()
+: <a class="el" href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator</a>
</li>
</ul>
</div><!-- contents -->
@@ -40,7 +41,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_v.html b/doc/html/functions_func_v.html
index bccd8890454ebfc3e80cd024595c2375dddd019b..eb00b8dfaeca6a357e03ca665ff0567a617df23f 100644
--- a/doc/html/functions_func_v.html
+++ b/doc/html/functions_func_v.html
@@ -20,12 +20,8 @@ $(function() {
 
<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>vector2cloud()
+: <a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -34,7 +30,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_w.html b/doc/html/functions_func_w.html
index 75c57aaf6e46a580e9d269e2762312e7fd59cb09..444254a3f1284c8a7806a2b6ab97b62a8f7f4fc1 100644
--- a/doc/html/functions_func_w.html
+++ b/doc/html/functions_func_w.html
@@ -20,54 +20,25 @@ $(function() {
 
<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>wingData()
+: <a class="el" href="classWingReader.html#a055603149057f4734a689f0fcbec21ba">WingReader</a>
</li>
-<li>wing()
-: <a class="el" href="classAbstract__robot__element__decorator.html#a9138c650f2148d515802a89f079ace2f">Abstract_robot_element_decorator</a>
+<li>wingReader()
+: <a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">AbstractMediator</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>WingReader()
+: <a class="el" href="classWingReader.html#a3fdb95591be590790271842612bcf00c">WingReader</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>
+: <a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">AbstractMediator</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>worldTf()
+: <a class="el" href="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">AbstractRobotElementDecorator</a>
+, <a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">Panel</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>writeFile()
+: <a class="el" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">BaseCalculationMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -76,7 +47,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_func_~.html b/doc/html/functions_func_~.html
index c063b7355bbebe1642f3c05ea8f8e2bfeb41a0c2..ee3f34cdf5f8b7fb773722f9e3c59d58e9a9d1e3 100644
--- a/doc/html/functions_func_~.html
+++ b/doc/html/functions_func_~.html
@@ -20,26 +20,14 @@ $(function() {
 
<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>~AbstractBaseImplementation()
+: <a class="el" href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">AbstractBaseImplementation</a>
</li>
-<li>~Abstract_map_loader()
-: <a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">Abstract_map_loader</a>
+<li>~Parallel_robot()
+: <a class="el" href="classParallel__robot.html#ae47e7694da2fffee10f8488e5ce66af4">Parallel_robot</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>~SimpleBaseImplementation()
+: <a class="el" href="classSimpleBaseImplementation.html#abef728d9bb7d66be54f1350dc8196e94">SimpleBaseImplementation</a>
</li>
</ul>
</div><!-- contents -->
@@ -48,7 +36,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_g.html b/doc/html/functions_g.html
index bc0f0954b91735158747cd5ac445fdbb02a75b1c..c03666389d281dd162e8f87f1edd64bdca95f9f8 100644
--- a/doc/html/functions_g.html
+++ b/doc/html/functions_g.html
@@ -20,38 +20,14 @@ $(function() {
<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>generateGrounds()
+: <a class="el" href="classBaseCalculationMediator.html#af1e8d7efc6cdfae12f18decc0008187c">BaseCalculationMediator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">AbstractRobotDecorator</a>
</li>
<li>grounds_
-: <a class="el" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">Base_calculation_mediator</a>
+: <a class="el" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">BaseCalculationMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -60,7 +36,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_h.html b/doc/html/functions_h.html
new file mode 100644
index 0000000000000000000000000000000000000000..9ef47fe15a55e0d9d992aa204ee5c07fbe104698
--- /dev/null
+++ b/doc/html/functions_h.html
@@ -0,0 +1,36 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: Class Members</title>
+<link href="doxygen.css" rel="stylesheet" type="text/css">
+<link href="tabs.css" rel="stylesheet" type="text/css">
+<script type="text/javascript" src="jquery.js"></script>
+</head>
+<body onload='searchBox.OnSelectItem(0);'>
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
+$(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_h"></a>- h -</h3><ul>
+<li>halt()
+: <a class="el" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">Parallel_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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/functions_i.html b/doc/html/functions_i.html
index f315b6621cb8e26914c4690933dfb8dc7b4fff91..d5ff215e18ca50297dcdf6d33df777cd1d2b8452 100644
--- a/doc/html/functions_i.html
+++ b/doc/html/functions_i.html
@@ -21,37 +21,34 @@ $(function() {
<h3><a id="index_i"></a>- i -</h3><ul>
<li>implementation()
-: <a class="el" href="classAbstract__base.html#a9fe29f317aeb7337c2eaeaefdc1d1ba9">Abstract_base</a>
+: <a class="el" href="classAbstractBase.html#aca91c42c8d4ca13f51025de8e4c5d330">AbstractBase</a>
</li>
<li>implementation_
-: <a class="el" href="classAbstract__base.html#ab73fdbf60e0d79d8ba4eeca3a894e39e">Abstract_base</a>
+: <a class="el" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">AbstractBase</a>
</li>
-<li>in_collision()
-: <a class="el" href="classCeti__robot.html#af0e5f7417926e50ccb607c6612170687">Ceti_robot</a>
+<li>inCollision()
+: <a class="el" href="classCetiRobot.html#aff35711aae4f6c1f67370666bd8328c5">CetiRobot</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>init()
+: <a class="el" href="classExecution.html#a83220fdadaf176477154ccd44f1cf0b5">Execution</a>
+, <a class="el" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">PositionCondition</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>inputFilter()
+: <a class="el" href="classAbstractRobotElementDecorator.html#a35fb8f9872a8fdaa558018c8e8b671e5">AbstractRobotElementDecorator</a>
+, <a class="el" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">LogDecorator</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>
+: <a class="el" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">AbstractBase</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>invMap()
+: <a class="el" href="classAbstractBase.html#a6beb9d8d621b1f931d8e7dfd8033147f">AbstractBase</a>
</li>
-<li>isStateValid()
-: <a class="el" href="classMoveit__grasp__mediator.html#a97f68aabffc7f663ab03927084044311">Moveit_grasp_mediator</a>
+<li>invMapCreation()
+: <a class="el" href="classAbstractBaseImplementation.html#ab1ce0fc309cd3870ed5fddbf77b53fe8">AbstractBaseImplementation</a>
+, <a class="el" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">SimpleBaseImplementation</a>
+</li>
+<li>it_
+: <a class="el" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">Execution</a>
</li>
</ul>
</div><!-- contents -->
@@ -60,7 +57,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_j.html b/doc/html/functions_j.html
index 7a6d0fe66a1ff2cd175f57857d3cdc9fea8f66e6..8da0e812420ceabff7ef21d486f018c4d36e42e4 100644
--- a/doc/html/functions_j.html
+++ b/doc/html/functions_j.html
@@ -21,14 +21,13 @@ $(function() {
<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>
+: <a class="el" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">JobReader</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>
+: <a class="el" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator</a>
+</li>
+<li>JobReader()
+: <a class="el" href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">JobReader</a>
</li>
<li>jobs_
: <a class="el" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data</a>
@@ -40,7 +39,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_l.html b/doc/html/functions_l.html
index e990a97496b5e049d5929963b9819b7e623b93dc..162781e7751909d4aad663aa95a42e3983cd680b 100644
--- a/doc/html/functions_l.html
+++ b/doc/html/functions_l.html
@@ -20,8 +20,8 @@ $(function() {
<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>LogDecorator()
+: <a class="el" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator</a>
</li>
</ul>
</div><!-- contents -->
@@ -30,7 +30,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_m.html b/doc/html/functions_m.html
index e605321fdc69708d5b560c687cf5f0ce638a1dd1..df63806cd34d0ff7ddc1414be8fab7edad4453fd 100644
--- a/doc/html/functions_m.html
+++ b/doc/html/functions_m.html
@@ -20,99 +20,69 @@ $(function() {
<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>manipulateACM()
+: <a class="el" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator</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>
+: <a class="el" href="classAbstractBase.html#a6bdc2aa838420f10ef770462a7b3c9be">AbstractBase</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>
+: <a class="el" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">AbstractBase</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">AbstractRobotDecorator</a>
</li>
<li>map_data_
-: <a class="el" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">Map_reader</a>
+: <a class="el" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">MapReader</a>
</li>
-<li>Map_loader()
-: <a class="el" href="classMap__loader.html#a40cb9325cf9975bd8204abfbd7c599b8">Map_loader</a>
+<li>map_reader_
+: <a class="el" href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">SimpleBase</a>
</li>
-<li>Map_reader()
-: <a class="el" href="classMap__reader.html#a651a31b2d8120523590a7d9707d5b4b5">Map_reader</a>
+<li>mapData()
+: <a class="el" href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">MapReader</a>
</li>
-<li>map_reader_
-: <a class="el" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">Simple_base</a>
+<li>MapReader()
+: <a class="el" href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">MapReader</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>
+: <a class="el" href="classMoveitPanel.html#a2a5bd27deda20024bde9c4ab5d9dd779">MoveitPanel</a>
+, <a class="el" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">RvizPanel</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>
+: <a class="el" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">MoveitPanel</a>
+, <a class="el" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">RvizPanel</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>
+: <a class="el" href="classAbstractMediator.html#a135b24638b57ae0d7b01c436a333f3d3">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#a329be680a6366d7a31e9d009eff70920">BaseCalculationMediator</a>
+, <a class="el" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator</a>
</li>
-<li>Mediator()
-: <a class="el" href="classMediator.html#aeb53c3e593afd4bb9f79990c3398ff36">Mediator</a>
+<li>mergeACM()
+: <a class="el" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator</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>mergePS()
+: <a class="el" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">AbstractRobotDecorator</a>
+, <a class="el" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">MoveitMediator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">AbstractRobotDecorator</a>
+, <a class="el" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">MoveitMediator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">AbstractRobotDecorator</a>
</li>
-<li>Moveit_grasp_mediator()
-: <a class="el" href="classMoveit__grasp__mediator.html#aafcbc3db53825d13dacdf6417e207d84">Moveit_grasp_mediator</a>
+<li>mgiHand()
+: <a class="el" href="classAbstractRobotDecorator.html#a31223d85225bac9603e2ccd06578fe18">AbstractRobotDecorator</a>
</li>
-<li>Moveit_mediator()
-: <a class="el" href="classMoveit__mediator.html#a9ac25277f557f65084d0245ecd8246bf">Moveit_mediator</a>
+<li>MoveitMediator()
+: <a class="el" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>
</li>
-<li>Moveit_panel()
-: <a class="el" href="classMoveit__panel.html#ace0a415c711a11c45d6a2e58aa707fb5">Moveit_panel</a>
+<li>MoveitPanel()
+: <a class="el" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel</a>
</li>
-<li>Moveit_robot()
-: <a class="el" href="classMoveit__robot.html#ab991a44b804dab173ca4c787c105d68a">Moveit_robot</a>
+<li>mr_reference_
+: <a class="el" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">Execution</a>
</li>
</ul>
</div><!-- contents -->
@@ -121,7 +91,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_n.html b/doc/html/functions_n.html
index 71f4782eccc896de73187df92ec9ee7bd52b3bb3..56475019ff1fc836666258546dc98b9e6b1c0660 100644
--- a/doc/html/functions_n.html
+++ b/doc/html/functions_n.html
@@ -21,42 +21,38 @@ $(function() {
<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="classAbstractRobot.html#aa90ce66c7d59030d1122c70b5de950e6">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElement.html#a9b0d09ec660f34e8bd4e58e3623f9b28">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#ac3a5461c53642115aebbc1af97dbe595">AbstractRobotElementDecorator</a>
+, <a class="el" href="classCetiRobot.html#a6573899bb57e886d4d3aea1952682992">CetiRobot</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">AbstractRobotElement</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="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">protobuf_entry</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>
+: <a class="el" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">AbstractRobotElementDecorator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">AbstractRobotElementDecorator</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>
+: <a class="el" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">AbstractBase</a>
+, <a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator</a>
+, <a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">AbstractRobotElementDecorator</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>
+: <a class="el" href="classAbstractRobot.html#a0b667805c8fb3f707eb68889b45c6263">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a53b26570fb8847363d0c5398eb633ff7">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#ab489d27cc52734c8d2fd2fb11917a26c">CetiRobot</a>
</li>
</ul>
</div><!-- contents -->
@@ -65,7 +61,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_o.html b/doc/html/functions_o.html
index e74c249aa27665d2a0facd7c96208939d2b49705..8dabe29d4d98829431c3fe5c8e43913ae423cc3a 100644
--- a/doc/html/functions_o.html
+++ b/doc/html/functions_o.html
@@ -20,31 +20,33 @@ $(function() {
<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>obj_name_
+: <a class="el" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">PositionCondition</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>
+: <a class="el" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">CetiRobot</a>
+</li>
+<li>observerMask()
+: <a class="el" href="classCetiRobot.html#a7a57e87b0c6d8e471901ec5b16b6b44e">CetiRobot</a>
</li>
<li>observers()
-: <a class="el" href="classCeti__robot.html#a948403a8fba6220b86d2cda6cb74a326">Ceti_robot</a>
-, <a class="el" href="classRobot.html#aeb6c8c47edbcc561f15b00d551a045e6">Robot</a>
+: <a class="el" href="classCetiRobot.html#a0ea161092fdc570497c5a94554e2ee50">CetiRobot</a>
</li>
<li>observers_
-: <a class="el" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">Ceti_robot</a>
-, <a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">Robot</a>
+: <a class="el" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">CetiRobot</a>
+</li>
+<li>onHalted()
+: <a class="el" href="classExecution.html#a98656e2c9600aff97c412db421bc85d4">Execution</a>
+</li>
+<li>onRunning()
+: <a class="el" href="classExecution.html#a9750aafd1107ea408aba7d31412b7b8b">Execution</a>
+</li>
+<li>onStart()
+: <a class="el" href="classExecution.html#a9997472fbbaa6d0d3f9e6405148216aa">Execution</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>outputFilter()
+: <a class="el" href="classAbstractRobotElementDecorator.html#a0d900279c63e3724ab37fc24f2b4e2d2">AbstractRobotElementDecorator</a>
+, <a class="el" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">LogDecorator</a>
</li>
</ul>
</div><!-- contents -->
@@ -53,7 +55,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_p.html b/doc/html/functions_p.html
index 3fa38827c8fd547e5f8784751d8579eb9790780e..d757f1aa3e2f4d417116c1d264b9ec535e2729bc 100644
--- a/doc/html/functions_p.html
+++ b/doc/html/functions_p.html
@@ -20,29 +20,29 @@ $(function() {
<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>PandaDecorator()
+: <a class="el" href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator</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>Parallel_robot()
+: <a class="el" href="classParallel__robot.html#a271c718a61caa49962844920702423ab">Parallel_robot</a>
</li>
-<li>planFullGrasp()
-: <a class="el" href="classMoveit__grasp__mediator.html#ad2e01237a4927df1d71d99276e56761e">Moveit_grasp_mediator</a>
+<li>parallelExec()
+: <a class="el" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator</a>
</li>
-<li>planning_pipeline_
-: <a class="el" href="classMoveit__grasp__mediator.html#a2c03d26fbb07ddfce88c0134a269db26">Moveit_grasp_mediator</a>
+<li>pattern()
+: <a class="el" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">AbstractRobotDecorator</a>
+</li>
+<li>pattern_
+: <a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">AbstractRobotDecorator</a>
</li>
<li>planning_scene_diff_publisher_
-: <a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator</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>
+: <a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator</a>
</li>
<li>pos_
: <a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP</a>
@@ -50,22 +50,32 @@ $(function() {
<li>pose_
: <a class="el" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">object_data</a>
</li>
+<li>PositionCondition()
+: <a class="el" href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition</a>
+</li>
+<li>protobuf_
+: <a class="el" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">BaseCalculationMediator</a>
+</li>
+<li>providedPorts()
+: <a class="el" href="classExecution.html#a2b7800cb7a292975c3df5e443710fe42">Execution</a>
+, <a class="el" href="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192">Parallel_robot</a>
+, <a class="el" href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">PositionCondition</a>
+</li>
<li>ps_
-: <a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator</a>
</li>
<li>psi_
-: <a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator</a>
+, <a class="el" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">PositionCondition</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>
+: <a class="el" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">BaseCalculationMediator</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>
+: <a class="el" href="classBaseCalculationMediator.html#a6a1ec0763b38dc5b84abc74ddf8a77a9">BaseCalculationMediator</a>
</li>
-<li>publish_tables()
-: <a class="el" href="classMoveit__mediator.html#a054489ae555d8ecd197b23d09e40be47">Moveit_mediator</a>
+<li>publishTables()
+: <a class="el" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -74,7 +84,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_r.html b/doc/html/functions_r.html
index 74d86263dd21bc7863b2cc97ee752f2e437283ca..4c04f0fcd838acb1ffd477ab3e08ce0172b7b203 100644
--- a/doc/html/functions_r.html
+++ b/doc/html/functions_r.html
@@ -21,91 +21,91 @@ $(function() {
<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>
+: <a class="el" href="classAbstractParamReader.html#ae33429655685fb29175563f381330148">AbstractParamReader</a>
+, <a class="el" href="classCuboidReader.html#a0a07f5fb34f7867d3bd861451ff3f624">CuboidReader</a>
+, <a class="el" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">JobReader</a>
+, <a class="el" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">MapReader</a>
+, <a class="el" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">RobotReader</a>
+, <a class="el" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">TaskSpaceReader</a>
+, <a class="el" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">TSReader</a>
+, <a class="el" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">WingReader</a>
+</li>
+<li>read_parameter_from_ports_
+: <a class="el" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">Parallel_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>
+: <a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator</a>
</li>
<li>relative_tf_
-: <a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element</a>
+: <a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">AbstractRobotElement</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>relativeTf()
+: <a class="el" href="classAbstractRobotElement.html#a4896ae0424f9bee2c63a6eb65130e8c7">AbstractRobotElement</a>
</li>
-<li>result_vector()
-: <a class="el" href="classAbstract__mediator.html#a9a4028042141d35f7429f92db32599c2">Abstract_mediator</a>
+<li>reset()
+: <a class="el" href="classCetiRobot.html#ae06d6a61f22ab0a49d4d49006815663f">CetiRobot</a>
</li>
-<li>result_vector_
-: <a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator</a>
+<li>result()
+: <a class="el" href="classAbstractBase.html#aeacda40d37c21c372f852aff0ebcef1d">AbstractBase</a>
</li>
-<li>rewrite_task_template()
-: <a class="el" href="classMoveit__mediator.html#a6913d3c81c3a30d9a628d0fe4756776c">Moveit_mediator</a>
+<li>result_
+: <a class="el" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">AbstractBase</a>
</li>
-<li>Robot()
-: <a class="el" href="classRobot.html#a0ad9bc06ae12dedaf6eb97bc4398c34a">Robot</a>
+<li>result_vector_
+: <a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator</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>resultVector()
+: <a class="el" href="classAbstractMediator.html#abfeda444314311dd931237ff8eea943d">AbstractMediator</a>
</li>
<li>robot_data_
-: <a class="el" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">Robot_reader</a>
+: <a class="el" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">RobotReader</a>
</li>
<li>robot_model_
-: <a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">MoveitMediator</a>
</li>
-<li>robot_reader()
-: <a class="el" href="classBase__calculation__mediator.html#a00167697941fa249b15bc322e9ecb356">Base_calculation_mediator</a>
+<li>robot_reader_
+: <a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">AbstractMediator</a>
</li>
-<li>Robot_reader()
-: <a class="el" href="classRobot__reader.html#add641d9e981e357eb921ec42161fa692">Robot_reader</a>
+<li>robot_root_bounds_
+: <a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">AbstractRobot</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>robotData()
+: <a class="el" href="classJobReader.html#a56accc7df48201c78715c22195e4965e">JobReader</a>
+, <a class="el" href="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">RobotReader</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>robotReader()
+: <a class="el" href="classAbstractMediator.html#ad5f1373899bb6bec89a51e3295bac45e">AbstractMediator</a>
</li>
-<li>robot_root_bounds_
-: <a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot</a>
+<li>RobotReader()
+: <a class="el" href="classRobotReader.html#a9e0259fb4a4d4a0e708cbac2f07baf7d">RobotReader</a>
+</li>
+<li>robotRootBounds()
+: <a class="el" href="classAbstractRobot.html#a93f1c6a952dec22637da68b4567d1b67">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#ad8bc2fc3ca0243df81f065f352fa8c0c">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#a1d10e70945cee096beee20d3c5d722dd">CetiRobot</a>
</li>
<li>robots()
-: <a class="el" href="classAbstract__mediator.html#a24f9a262c71f04f66550da4f61746e62">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a6b7c63d2283d9a34cfe53c75bc6294e8">AbstractMediator</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>
+: <a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator</a>
</li>
<li>root_tf_
-: <a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">AbstractRobot</a>
+</li>
+<li>rootTf()
+: <a class="el" href="classAbstractRobot.html#acb49db9acf6f136df2ffdc17758d61a9">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a866eacc1aa89353a71e021eabf137203">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#a56c4d8b5889f12b26f06b186d896b0d8">CetiRobot</a>
</li>
<li>rotate()
-: <a class="el" href="classAbstract__robot.html#a72694508ca6d5ada16236775402dd385">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#af3d61b41f607cd3092a6bad7285cb668">AbstractRobot</a>
+</li>
+<li>rs_
+: <a class="el" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator</a>
</li>
-<li>Rviz_panel()
-: <a class="el" href="classRviz__panel.html#a9e4b8809f51ef3e8a552f557c067d3d7">Rviz_panel</a>
+<li>RvizPanel()
+: <a class="el" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel</a>
</li>
</ul>
</div><!-- contents -->
@@ -114,7 +114,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_s.html b/doc/html/functions_s.html
index a213cf87d5292a3caf5eebdf2af6356f4a70e68e..ef4899f8c232c095ab06bc4034800760deb46f86 100644
--- a/doc/html/functions_s.html
+++ b/doc/html/functions_s.html
@@ -21,154 +21,141 @@ $(function() {
<h3><a id="index_s"></a>- s -</h3><ul>
<li>sampling_planner_
-: <a class="el" href="classMoveit__mediator.html#a31a36d397814aff398138b7ce8583155">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator</a>
</li>
-<li>scene_setup()
-: <a class="el" href="classMoveit__grasp__mediator.html#af4c5933ccfcbf7ca153a039ad00a865f">Moveit_grasp_mediator</a>
+<li>sceneCollision()
+: <a class="el" href="classBaseCalculationMediator.html#a2c28239ef77e98ca768784e441a9e012">BaseCalculationMediator</a>
</li>
-<li>set_cuboid_bin_data()
-: <a class="el" href="classCuboid__reader.html#a79e976d81d68adfc6b15d5b6879a726e">Cuboid_reader</a>
+<li>setCuboidBinData()
+: <a class="el" href="classCuboidReader.html#af590521a56d12391fbf96411cd8f6926">CuboidReader</a>
</li>
-<li>set_cuboid_obstacle_data()
-: <a class="el" href="classCuboid__reader.html#ace0ace01df2eeb0607e8ad9d2764200d">Cuboid_reader</a>
+<li>setCuboidObstacleData()
+: <a class="el" href="classCuboidReader.html#ac60f1dcb39c0f0e176a5835c5ae97dc7">CuboidReader</a>
</li>
-<li>set_dirname()
-: <a class="el" href="classAbstract__mediator.html#a64323b190e965287422f7b840bc1b95f">Abstract_mediator</a>
+<li>setDirname()
+: <a class="el" href="classAbstractMediator.html#a14fb98326c6c14fceb9b7b4749490afd">AbstractMediator</a>
</li>
-<li>set_drop_off_data()
-: <a class="el" href="classTs__reader.html#ae72a1b14426b9a5c4da570b5c4378c87">Ts_reader</a>
+<li>setDropOffData()
+: <a class="el" href="classTSReader.html#ada36eead572d86a77bc8fed723090079">TSReader</a>
</li>
-<li>set_grasp_map_generator()
-: <a class="el" href="classMoveit__robot.html#a9a70514d5e32fa947dfd54235d806ef0">Moveit_robot</a>
+<li>setFailureThreshold()
+: <a class="el" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">Parallel_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>setGraspOrientations()
+: <a class="el" href="classAbstractBaseImplementation.html#a8dd0009cc916d3dd7afde8ae7e7a755a">AbstractBaseImplementation</a>
+, <a class="el" href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">SimpleBaseImplementation</a>
</li>
-<li>set_implementation()
-: <a class="el" href="classAbstract__base.html#ae41eb0b9891cdcfca4ae7df8234a9113">Abstract_base</a>
+<li>setImplementation()
+: <a class="el" href="classAbstractBase.html#a0680387079016eb6900dfa8cbd9f2820">AbstractBase</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>setInvMap()
+: <a class="el" href="classAbstractBase.html#a75f9729d34f483b2174f127305fa0968">AbstractBase</a>
</li>
-<li>set_job_data()
-: <a class="el" href="classJob__reader.html#a0602b23e66eeea128251f411b0935f81">Job_reader</a>
+<li>setJobData()
+: <a class="el" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">JobReader</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>setMap()
+: <a class="el" href="classAbstractBase.html#a86e2a8c1150c3aaec3b70d148e3611c2">AbstractBase</a>
</li>
-<li>set_map_data()
-: <a class="el" href="classMap__reader.html#a6f6a52aa711ebdeb6bc8714b18679af6">Map_reader</a>
+<li>setMapData()
+: <a class="el" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">MapReader</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>setName()
+: <a class="el" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">Panel</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>setObserverMask()
+: <a class="el" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot</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>setObservers()
+: <a class="el" href="classCetiRobot.html#a0d00ded41398ce27f591581515630877">CetiRobot</a>
</li>
-<li>set_panel()
-: <a class="el" href="classBase__calculation__mediator.html#a3fc38aa682c47686159c0c67b7685fd7">Base_calculation_mediator</a>
+<li>setPanel()
+: <a class="el" href="classAbstractMediator.html#a2ddf9436b7443a7a45fb5b60a7c6ce2b">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#ab90e7d35612b9548d823fee2b81ce5fa">BaseCalculationMediator</a>
+, <a class="el" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator</a>
</li>
-<li>set_relative_tf()
-: <a class="el" href="classAbstract__robot__element.html#a12e6954b51765e18a7f0c2d8c4eca0c6">Abstract_robot_element</a>
+<li>setRelativeTf()
+: <a class="el" href="classAbstractRobotElement.html#a43dc533037cf056a95933c2a3230292e">AbstractRobotElement</a>
</li>
-<li>set_result_vector()
-: <a class="el" href="classAbstract__mediator.html#a45f051cc8b3816677c638f805e805838">Abstract_mediator</a>
+<li>setResult()
+: <a class="el" href="classAbstractBase.html#ae4b06c34ce6ad789c3db35dbc072d59e">AbstractBase</a>
</li>
-<li>set_robot_data()
-: <a class="el" href="classRobot__reader.html#a5679bf167d87e00d4f9ca30fdc3fc503">Robot_reader</a>
+<li>setResultVector()
+: <a class="el" href="classAbstractMediator.html#a0d4451e49f9e7953ca5e32126b597619">AbstractMediator</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>setRobotData()
+: <a class="el" href="classRobotReader.html#a6a37901b3e94eb461e7b16ed775be141">RobotReader</a>
</li>
-<li>set_strategy()
-: <a class="el" href="classAbstract__map__loader.html#a3508478d51dcdf86ed8418006a4dd0d9">Abstract_map_loader</a>
+<li>setSize()
+: <a class="el" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">Panel</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>setSuccessThreshold()
+: <a class="el" href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">Parallel_robot</a>
</li>
-<li>set_target_rot()
-: <a class="el" href="classAbstract__map__loader.html#a2adcb4394435282441360fb2310c231b">Abstract_map_loader</a>
+<li>setTargetCloud()
+: <a class="el" href="classAbstractBase.html#a6f798cb5806247f4549efab45596797d">AbstractBase</a>
</li>
-<li>set_task_grasps()
-: <a class="el" href="classAbstract__map__loader.html#ab738d6d84071f7b931e2373a7fefc498">Abstract_map_loader</a>
+<li>setTasks()
+: <a class="el" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">MoveitMediator</a>
</li>
-<li>set_task_space()
-: <a class="el" href="classAbstract__base.html#ae2031dc21ac6416978f9fe854449287e">Abstract_base</a>
+<li>setTaskSpace()
+: <a class="el" href="classAbstractBase.html#a129121e9e3ea6a57d6f0c05938050deb">AbstractBase</a>
</li>
-<li>set_tasks()
-: <a class="el" href="classMoveit__mediator.html#acf8ec374cb01f96ef41dea8bb0bae963">Moveit_mediator</a>
+<li>setTf()
+: <a class="el" href="classAbstractRobot.html#a53decc994ea4df246c87cedf1619f58b">AbstractRobot</a>
</li>
-<li>set_tf()
-: <a class="el" href="classAbstract__robot.html#ab27017c6039446502704b443df934a2d">Abstract_robot</a>
+<li>setupRviz()
+: <a class="el" href="classBaseCalculationMediator.html#ac9037e54089f643e890763642efebc84">BaseCalculationMediator</a>
</li>
-<li>set_wing_data()
-: <a class="el" href="classWing__reader.html#a3e05444708c755a2aefe43a0bc8fb04a">Wing_reader</a>
+<li>setWingData()
+: <a class="el" href="classWingReader.html#acb93724c3512641f05c689c0e846f096">WingReader</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>setWorldTf()
+: <a class="el" href="classAbstractRobotElement.html#aa5f10ad3b5236b38209e94ed944e40d5">AbstractRobotElement</a>
</li>
-<li>set_world_tf()
-: <a class="el" href="classAbstract__robot__element.html#aa7ee89ce290dd2e6408a9d2118af93f8">Abstract_robot_element</a>
+<li>SimpleBase()
+: <a class="el" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase</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>SimpleBaseImplementation()
+: <a class="el" href="classSimpleBaseImplementation.html#ae0ebda1d0ec6d77eec3a48c99b3ede2d">SimpleBaseImplementation</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="classAbstractRobot.html#ab91d24aacd1816d82c7fe59fde1daaae">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#ac64a19cac1215bd89faad4db6a2b176f">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElement.html#a94e9c5142e91f262fe6cd223f8b6c110">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#a8bc2e63afb97283b1ac48ae1f44218e2">AbstractRobotElementDecorator</a>
+, <a class="el" href="classCetiRobot.html#aa6c0a4be3271f80cd721a0229c4e821f">CetiRobot</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="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement</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>skip_list_
+: <a class="el" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">Parallel_robot</a>
+</li>
+<li>spezifieRobotGroups()
+: <a class="el" href="classAbstractRobotDecorator.html#a1f0ecb1398c2e5370176c3ab3f479fad">AbstractRobotDecorator</a>
+, <a class="el" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">PandaDecorator</a>
+, <a class="el" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">UR10Decorator</a>
+, <a class="el" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">UR5Decorator</a>
+</li>
+<li>spezifieRootBounds()
+: <a class="el" href="classAbstractRobotDecorator.html#a1f56056cdf8f7213e90900768b66761d">AbstractRobotDecorator</a>
+, <a class="el" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">PandaDecorator</a>
+, <a class="el" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">UR10Decorator</a>
+, <a class="el" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">UR5Decorator</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>start_pos_
+: <a class="el" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">PositionCondition</a>
</li>
-<li>strategy()
-: <a class="el" href="classAbstract__map__loader.html#afd6b5c362ad38cfe32600ff9f1398bc7">Abstract_map_loader</a>
+<li>success_threshold_
+: <a class="el" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">Parallel_robot</a>
</li>
-<li>strategy_
-: <a class="el" href="classAbstract__map__loader.html#a18cb3dcb65ee0af86bff355c24814dc3">Abstract_map_loader</a>
+<li>successThreshold()
+: <a class="el" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">Parallel_robot</a>
</li>
</ul>
</div><!-- contents -->
@@ -177,7 +164,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_t.html b/doc/html/functions_t.html
index 6d379c91123263e4b534efd257bb285f64875b68..c61c1599cb072991412d342af0c0940604b09ffb 100644
--- a/doc/html/functions_t.html
+++ b/doc/html/functions_t.html
@@ -20,64 +20,61 @@ $(function() {
<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>
+: <a class="el" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">AbstractBase</a>
</li>
-<li>target_rot()
-: <a class="el" href="classAbstract__map__loader.html#abdd0484ea0507910d37b0eae257b6476">Abstract_map_loader</a>
+<li>targetCloud()
+: <a class="el" href="classAbstractBase.html#a57ddd9cadb2301b86055c5c321acb390">AbstractBase</a>
</li>
-<li>target_rot_
-: <a class="el" href="classAbstract__map__loader.html#af012c7a4a222097864cbcda7ed58212f">Abstract_map_loader</a>
+<li>task_map_
+: <a class="el" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">MoveitMediator</a>
</li>
-<li>task_grasps()
-: <a class="el" href="classAbstract__map__loader.html#aa9772fe2bd594967b8f7b980db442ca5">Abstract_map_loader</a>
+<li>task_space_
+: <a class="el" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">AbstractBase</a>
</li>
-<li>task_grasps_
-: <a class="el" href="classAbstract__map__loader.html#a8c4bd31f9c778a3a5ef7a21ab16f6127">Abstract_map_loader</a>
+<li>task_space_reader_
+: <a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator</a>
+, <a class="el" href="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d">SimpleBase</a>
</li>
-<li>task_map()
-: <a class="el" href="classMoveit__mediator.html#ab11f9ee155b39e5809f75d9dfd44f34c">Moveit_mediator</a>
+<li>taskMap()
+: <a class="el" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">MoveitMediator</a>
</li>
-<li>task_map_
-: <a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">Moveit_mediator</a>
+<li>taskPlanner()
+: <a class="el" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator</a>
</li>
-<li>task_planner()
-: <a class="el" href="classMoveit__mediator.html#aae1a6378021b727fdfd1f1f3816b41c6">Moveit_mediator</a>
+<li>tasks_
+: <a class="el" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">MoveitMediator</a>
</li>
-<li>task_space()
-: <a class="el" href="classAbstract__base.html#ad4b63750f9b890cf99f9187624cc97be">Abstract_base</a>
+<li>taskSpace()
+: <a class="el" href="classAbstractBase.html#a92098cb30708dcaf486f0215f290b58f">AbstractBase</a>
</li>
-<li>task_space_
-: <a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">Abstract_base</a>
+<li>TaskSpaceReader()
+: <a class="el" href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">TaskSpaceReader</a>
</li>
-<li>Task_space_reader()
-: <a class="el" href="classTask__space__reader.html#ac522966d855d5e4f097265945d60456c">Task_space_reader</a>
+<li>tf()
+: <a class="el" href="classAbstractRobot.html#af7a274dc076263e08fd9830b3b5861ae">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotDecorator.html#aae837cb13e9d38efb346d91dd2bf4566">AbstractRobotDecorator</a>
+, <a class="el" href="classCetiRobot.html#a153ed782c15db3966bea479d4e5917f3">CetiRobot</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>tf_
+: <a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">AbstractRobot</a>
+, <a class="el" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">protobuf_entry</a>
</li>
-<li>tasks_
-: <a class="el" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">Moveit_mediator</a>
+<li>THRESHOLD_FAILURE
+: <a class="el" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">Parallel_robot</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>THRESHOLD_SUCCESS
+: <a class="el" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">Parallel_robot</a>
</li>
-<li>tf_
-: <a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot</a>
+<li>tick()
+: <a class="el" href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">Parallel_robot</a>
+, <a class="el" href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">PositionCondition</a>
</li>
<li>translate()
-: <a class="el" href="classAbstract__robot.html#a126e52a7696cf030f5697dd93439775f">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#a780bb60cd0c8b36d5a687656e06d75f7">AbstractRobot</a>
</li>
-<li>Ts_reader()
-: <a class="el" href="classTs__reader.html#ad9b8ee9df3fd4477bb56b3a7c41eb5e0">Ts_reader</a>
+<li>TSReader()
+: <a class="el" href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">TSReader</a>
</li>
</ul>
</div><!-- contents -->
@@ -86,7 +83,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_u.html b/doc/html/functions_u.html
index 2acf91f0337c40db680edf1e73e98d73f4dc2c1b..5ed371b6cfcb3d12a29607ceeb916605ad8ca54b 100644
--- a/doc/html/functions_u.html
+++ b/doc/html/functions_u.html
@@ -21,17 +21,18 @@ $(function() {
<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="classAbstractRobotElement.html#a407a6970d33242af3fbf5d7f3e1c9aab">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator</a>
+, <a class="el" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">LogDecorator</a>
+, <a class="el" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">MoveitPanel</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>
+, <a class="el" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel</a>
+</li>
+<li>UR10Decorator()
+: <a class="el" href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator</a>
+</li>
+<li>UR5Decorator()
+: <a class="el" href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator</a>
</li>
</ul>
</div><!-- contents -->
@@ -40,7 +41,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_v.html b/doc/html/functions_v.html
index 6d803689f538b1b0b2500a0492a6f488801d25fe..f3b59841d67537f34c7780389ad1663ada70823c 100644
--- a/doc/html/functions_v.html
+++ b/doc/html/functions_v.html
@@ -20,21 +20,11 @@ $(function() {
<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>vector2cloud()
+: <a class="el" href="classAbstractMediator.html#ae42784e8435ca6ebec2bc1af1f32ce02">AbstractMediator</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>
+: <a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">MoveitMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -43,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_vars.html b/doc/html/functions_vars.html
index 7fd47e364295358b738ddd00d198d9281affeb17..39eba01e1526f902d40b77704e3f77b1ef9702b2 100644
--- a/doc/html/functions_vars.html
+++ b/doc/html/functions_vars.html
@@ -20,91 +20,96 @@ $(function() {
 
<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>
+: <a class="el" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator</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>
+: <a class="el" href="classAbstractRobot.html#a6e3c9f8635200012425072be65633a4e">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">AbstractRobotElement</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>
+: <a class="el" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator</a>
</li>
<li>cuboid_box_
-: <a class="el" href="classCuboid__reader.html#ae02b31c6baf83e5d957170a7d454224b">Cuboid_reader</a>
+: <a class="el" href="classCuboidReader.html#a3e8f4d8682d14f21e46d78a2e3f4f0bf">CuboidReader</a>
</li>
<li>cuboid_obstacle_
-: <a class="el" href="classCuboid__reader.html#af8a5a286ea79d157c294d0f1efc9ce8a">Cuboid_reader</a>
+: <a class="el" href="classCuboidReader.html#a91f3e86106a59eb97916cb72337e1173">CuboidReader</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>
+: <a class="el" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator</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>
+: <a class="el" href="classAbstractMediator.html#a93c390745716f6a5b2920c8ffaa58b3d">AbstractMediator</a>
</li>
<li>drop_off_data_
-: <a class="el" href="classTs__reader.html#a74d617259a32c10da34cf8a664e48799">Ts_reader</a>
+: <a class="el" href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">TSReader</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>
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>ets_
+: <a class="el" href="classExecution.html#aa37ec3ca2032ee01f0f91670063c287a">Execution</a>
</li>
-<li>grasp_maps_
-: <a class="el" href="classMoveit__grasp__mediator.html#a7358966adab0fea05c2587e492273cb0">Moveit_grasp_mediator</a>
+<li>executions_
+: <a class="el" href="classExecution.html#adf786293daccae345032d30434e0b38a">Execution</a>
+, <a class="el" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>failure_threshold_
+: <a class="el" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">Parallel_robot</a>
</li>
-<li>grasp_ns_
-: <a class="el" href="classMoveit__grasp__mediator.html#a61afc06c74fcadd24af49e74e69730cc">Moveit_grasp_mediator</a>
+<li>filename_
+: <a class="el" href="classBaseCalculationMediator.html#ac5d3fbee8f8d0cfe400014da7be6ac98">BaseCalculationMediator</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>grasp_map_generator_
+: <a class="el" href="classAbstractRobotDecorator.html#a147e86f2dd943e921d534d57a30a53c5">AbstractRobotDecorator</a>
</li>
<li>grounds_
-: <a class="el" href="classBase__calculation__mediator.html#a008b22e99593f2fcbff3c6e26ae5ddbe">Base_calculation_mediator</a>
+: <a class="el" href="classBaseCalculationMediator.html#a0b765402d1ddf2337796bda78f9114dd">BaseCalculationMediator</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>
+: <a class="el" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">AbstractBase</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>
+: <a class="el" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">AbstractBase</a>
+</li>
+<li>it_
+: <a class="el" href="classExecution.html#ac66c28006ba68631a6cdcce5f6048eee">Execution</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>
+: <a class="el" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">JobReader</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>
+: <a class="el" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator</a>
</li>
<li>jobs_
: <a class="el" href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data</a>
@@ -114,84 +119,75 @@ $(function() {
<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>
+: <a class="el" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">AbstractBase</a>
+, <a class="el" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">AbstractRobotDecorator</a>
</li>
<li>map_data_
-: <a class="el" href="classMap__reader.html#abfb159fe634aab941d493204be389fa9">Map_reader</a>
+: <a class="el" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">MapReader</a>
</li>
<li>map_reader_
-: <a class="el" href="classSimple__base.html#aca05b7bb4f422425e21872198598b6c5">Simple_base</a>
+: <a class="el" href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">SimpleBase</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>
+: <a class="el" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">MoveitPanel</a>
+, <a class="el" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">RvizPanel</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>
+: <a class="el" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">AbstractRobotDecorator</a>
+, <a class="el" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">MoveitMediator</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>
+: <a class="el" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">AbstractRobotDecorator</a>
+</li>
+<li>mr_reference_
+: <a class="el" href="classExecution.html#a3e4eb097f9ed40ed2f27cb2199cb205f">Execution</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="classAbstractRobot.html#a4c67a63e89e2e2fb7915adfc44e8930b">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">AbstractRobotElement</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="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">protobuf_entry</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>
+: <a class="el" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">AbstractRobotDecorator</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">AbstractRobotElementDecorator</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>
+: <a class="el" href="classAbstractBase.html#a33cd7973db1e3e56909190ff1b0b7865">AbstractBase</a>
+, <a class="el" href="classAbstractMediator.html#a6caa36a0e7ca24bc97a9558cf46c72ad">AbstractMediator</a>
+, <a class="el" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#aca02840da41cc102e12ef7f3828cb04c">AbstractRobotElementDecorator</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>obj_name_
+: <a class="el" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">PositionCondition</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>
+: <a class="el" href="classCetiRobot.html#a497e644a1776b6cd73b8d3f225e39c6a">CetiRobot</a>
</li>
<li>observers_
-: <a class="el" href="classCeti__robot.html#af8c6391807befcfd2d431ad180a3beaf">Ceti_robot</a>
-, <a class="el" href="classRobot.html#a6821b81b167e8bffbeca4beedc8033f8">Robot</a>
+: <a class="el" href="classCetiRobot.html#afb7a1aa241b2fd7897d842da3eb17f26">CetiRobot</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>pattern_
+: <a class="el" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">AbstractRobotDecorator</a>
</li>
<li>planning_scene_diff_publisher_
-: <a class="el" href="classMoveit__mediator.html#a40026b9dc0519dbb0bb4e649cdebab37">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator</a>
</li>
<li>planning_scene_monitor_
-: <a class="el" href="classMoveit__mediator.html#ae5368a1e8034689de7c2fd15c680b7e5">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator</a>
</li>
<li>pos_
: <a class="el" href="structwing__BP.html#a6396b771cdeff0b866020e3293a84eca">wing_BP</a>
@@ -199,125 +195,137 @@ $(function() {
<li>pose_
: <a class="el" href="structobject__data.html#a3f16f6c8bbaeeab8ad6d67a28bc8430d">object_data</a>
</li>
+<li>protobuf_
+: <a class="el" href="classBaseCalculationMediator.html#ace0933d700ae441525470f53e1ee6340">BaseCalculationMediator</a>
+</li>
<li>ps_
-: <a class="el" href="classMoveit__mediator.html#a613cd260bba43012848ea0a80452cf09">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator</a>
</li>
<li>psi_
-: <a class="el" href="classMoveit__mediator.html#a4c349f21f00ee6ec4cbb290557fe6a39">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator</a>
+, <a class="el" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">PositionCondition</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>
+: <a class="el" href="classBaseCalculationMediator.html#af021b903e94426375568964bc90973e3">BaseCalculationMediator</a>
</li>
</ul>
<h3><a id="index_r"></a>- r -</h3><ul>
+<li>read_parameter_from_ports_
+: <a class="el" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">Parallel_robot</a>
+</li>
<li>relative_bounds_
-: <a class="el" href="classAbstract__mediator.html#a4580d0c30a62cc91203b950694f98e98">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#ac6e8ea822143df20ec6ecec2ff1603db">AbstractMediator</a>
</li>
<li>relative_tf_
-: <a class="el" href="classAbstract__robot__element.html#a83f046bb2fb1009832091cf8502af956">Abstract_robot_element</a>
+: <a class="el" href="classAbstractRobotElement.html#a66a61ffcb4096fbf1a964b035a38798f">AbstractRobotElement</a>
+</li>
+<li>result_
+: <a class="el" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">AbstractBase</a>
</li>
<li>result_vector_
-: <a class="el" href="classAbstract__mediator.html#a9a48fc344129cd16dc0f20be2d9368ab">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a3c7679cefd8f5ef8e208224745f8aac4">AbstractMediator</a>
</li>
<li>robot_data_
-: <a class="el" href="classRobot__reader.html#a099c3894672f3bdfacb1e1c69f2d30a7">Robot_reader</a>
+: <a class="el" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">RobotReader</a>
</li>
<li>robot_model_
-: <a class="el" href="classMoveit__mediator.html#a6f4a8f20841b33341c4991ee00fef75e">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">MoveitMediator</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>
+: <a class="el" href="classAbstractMediator.html#a2fb941ec8ffe4da38ace5e4d504268f5">AbstractMediator</a>
</li>
<li>robot_root_bounds_
-: <a class="el" href="classAbstract__robot.html#a6d8ed98b1820134733f8d1a42eaa00c4">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#a13f598496fdae9b2f881a494d4737fc4">AbstractRobot</a>
</li>
<li>robots_
-: <a class="el" href="classAbstract__mediator.html#a66416f41c207636fcf0b5223c2f70061">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator</a>
</li>
<li>root_tf_
-: <a class="el" href="classAbstract__robot.html#a598a8379918fbdaf44358be840f146b7">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#a2c8771686cd69c4986feea6e6fdd9e76">AbstractRobot</a>
+</li>
+<li>rs_
+: <a class="el" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator</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>
+: <a class="el" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator</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="classAbstractRobot.html#af9c9ba20329199e5d1722a681f2087e9">AbstractRobot</a>
+, <a class="el" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement</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>skip_list_
+: <a class="el" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">Parallel_robot</a>
+</li>
+<li>start_pos_
+: <a class="el" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">PositionCondition</a>
+</li>
+<li>success_threshold_
+: <a class="el" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">Parallel_robot</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>
+: <a class="el" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">AbstractBase</a>
</li>
<li>task_map_
-: <a class="el" href="classMoveit__mediator.html#a56194f2f70bc9b469a8422dfef0cf602">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">MoveitMediator</a>
</li>
<li>task_space_
-: <a class="el" href="classAbstract__base.html#a8c32441b38f2cb24388e8d98fd8fe2bc">Abstract_base</a>
+: <a class="el" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">AbstractBase</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>
+: <a class="el" href="classAbstractMediator.html#a4786aa6941e2776476ca71829d771faa">AbstractMediator</a>
+, <a class="el" href="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d">SimpleBase</a>
</li>
<li>tasks_
-: <a class="el" href="classMoveit__mediator.html#aa330766933e58c781067b1b943ce47a6">Moveit_mediator</a>
+: <a class="el" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">MoveitMediator</a>
</li>
<li>tf_
-: <a class="el" href="classAbstract__robot.html#a854a3c8c740dcb60e0ee347fcd5447f6">Abstract_robot</a>
+: <a class="el" href="classAbstractRobot.html#ab2f383d6e9fccdb649441ac67f457f21">AbstractRobot</a>
+, <a class="el" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">protobuf_entry</a>
+</li>
+<li>THRESHOLD_FAILURE
+: <a class="el" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">Parallel_robot</a>
+</li>
+<li>THRESHOLD_SUCCESS
+: <a class="el" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">Parallel_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>
+: <a class="el" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">MoveitMediator</a>
</li>
</ul>
<h3><a id="index_w"></a>- w -</h3><ul>
+<li>wing_config_
+: <a class="el" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">protobuf_entry</a>
+</li>
<li>wing_data_
-: <a class="el" href="classWing__reader.html#af5dbd133afcbd8f2f929d94b93ac0e0b">Wing_reader</a>
+: <a class="el" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">WingReader</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>
+: <a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator</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>
+: <a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">BaseCalculationMediator</a>
</li>
<li>world_tf_
-: <a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element</a>
+: <a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">AbstractRobotElement</a>
</li>
</ul>
</div><!-- contents -->
@@ -326,7 +334,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_w.html b/doc/html/functions_w.html
index 8b5ddd28f6913746e18408de33c63b86d42c7002..638797129b097dc54a5947316dcc458b6555d51f 100644
--- a/doc/html/functions_w.html
+++ b/doc/html/functions_w.html
@@ -20,68 +20,41 @@ $(function() {
<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>wing_config_
+: <a class="el" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">protobuf_entry</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>
+: <a class="el" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">WingReader</a>
</li>
-<li>wing_reader()
-: <a class="el" href="classBase__calculation__mediator.html#a7d366c17687d6e3e4d3bc27c888ee5f5">Base_calculation_mediator</a>
+<li>wing_reader_
+: <a class="el" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator</a>
</li>
-<li>Wing_reader()
-: <a class="el" href="classWing__reader.html#a98abb7d49525f6a3832bdd1a8d4e3e3c">Wing_reader</a>
+<li>wingData()
+: <a class="el" href="classWingReader.html#a055603149057f4734a689f0fcbec21ba">WingReader</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>wingReader()
+: <a class="el" href="classAbstractMediator.html#a72eec7045a30201e1b8e2efa3f3c0855">AbstractMediator</a>
</li>
-<li>Wing_rviz_decorator()
-: <a class="el" href="classWing__rviz__decorator.html#a13ffcd407511d8812150f26b9b257806">Wing_rviz_decorator</a>
+<li>WingReader()
+: <a class="el" href="classWingReader.html#a3fdb95591be590790271842612bcf00c">WingReader</a>
</li>
<li>wings()
-: <a class="el" href="classAbstract__mediator.html#a9838c41eeb97aef668cd7213f0e2e9a6">Abstract_mediator</a>
+: <a class="el" href="classAbstractMediator.html#a0158088e933cb5031370809db6132d07">AbstractMediator</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>
+: <a class="el" href="classAbstractMediator.html#a9b24efa2ec432e60f25c6a54970775fc">AbstractMediator</a>
+, <a class="el" href="classBaseCalculationMediator.html#a5a9ec25501705a48e1d2fe47f1d00add">BaseCalculationMediator</a>
</li>
<li>world_tf_
-: <a class="el" href="classAbstract__robot__element.html#ad42d8ba185583e644e00af1c2298a38d">Abstract_robot_element</a>
+: <a class="el" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">AbstractRobotElement</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>worldTf()
+: <a class="el" href="classAbstractRobotElement.html#a7aae0717ac2909a70d039164a29ba754">AbstractRobotElement</a>
+, <a class="el" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">AbstractRobotElementDecorator</a>
+, <a class="el" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">Panel</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>writeFile()
+: <a class="el" href="classBaseCalculationMediator.html#a127fc02c11e4aad5ac4aa58b793c1e54">BaseCalculationMediator</a>
</li>
</ul>
</div><!-- contents -->
@@ -90,7 +63,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/functions_~.html b/doc/html/functions_~.html
index a03c9d34c2b7c857a9e99352292cd3c548412df7..6e8dfc36ce6f2fb6ee160b0386f3d3d74ddd1089 100644
--- a/doc/html/functions_~.html
+++ b/doc/html/functions_~.html
@@ -20,26 +20,14 @@ $(function() {
<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>~AbstractBaseImplementation()
+: <a class="el" href="classAbstractBaseImplementation.html#abb5172709cdc196c327e54e1d7b7b685">AbstractBaseImplementation</a>
</li>
-<li>~Abstract_map_loader()
-: <a class="el" href="classAbstract__map__loader.html#a3b3675673d54d23b1678bd47df4b2273">Abstract_map_loader</a>
+<li>~Parallel_robot()
+: <a class="el" href="classParallel__robot.html#ae47e7694da2fffee10f8488e5ce66af4">Parallel_robot</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>~SimpleBaseImplementation()
+: <a class="el" href="classSimpleBaseImplementation.html#abef728d9bb7d66be54f1350dc8196e94">SimpleBaseImplementation</a>
</li>
</ul>
</div><!-- contents -->
@@ -48,7 +36,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/globals.html b/doc/html/globals.html
index bc6e6ac7dc4f06d962e7520885c4e3d5bec865d4..86d152bd8e02a7b5aef15ae60e48d91b9fb5eb9d 100644
--- a/doc/html/globals.html
+++ b/doc/html/globals.html
@@ -17,109 +17,39 @@ $(function() {
<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>
+<div class="textblock">Here is a list of all file members with links to the files they belong to:</div><ul>
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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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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<div class="title">grasp_cell_routine.cpp File Reference</div> </div>
</div><!--header-->
<div class="contents">
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+<div class="textblock"><code>#include "impl/abstract_robot.h"</code><br />
+<code>#include "impl/abstract_map_loader.h"</code><br />
+<code>#include "impl/map_loader.h"</code><br />
+<code>#include "impl/abstract_robot_element.h"</code><br />
+<code>#include "impl/abstract_robot_element_decorator.h"</code><br />
+<code>#include "impl/abstract_mediator.h"</code><br />
+<code>#include "impl/wing_moveit_decorator.h"</code><br />
+<code>#include "impl/wing.h"</code><br />
+<code>#include "impl/moveit_robot.h"</code><br />
+<code>#include "impl/collision_helper.h"</code><br />
<code>#include <xmlrpcpp/XmlRpc.h></code><br />
<code>#include "<a class="el" href="abstract__param__reader_8h_source.html">reader/abstract_param_reader.h</a>"</code><br />
<code>#include "<a class="el" href="robot__reader_8h_source.html">reader/robot_reader.h</a>"</code><br />
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+<p class="definition">Definition at line <a class="el" href="grasp__cell__routine_8cpp_source.html#l00024">24</a> of file <a class="el" href="grasp__cell__routine_8cpp_source.html">grasp_cell_routine.cpp</a>.</p>
</div>
</div>
@@ -150,7 +126,7 @@ Functions</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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-<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>
+<a href="grasp__cell__routine_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "impl/abstract_robot.h"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "impl/abstract_map_loader.h"</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include "impl/map_loader.h"</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "impl/abstract_robot_element.h"</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "impl/abstract_robot_element_decorator.h"</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "impl/abstract_mediator.h"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "impl/wing_moveit_decorator.h"</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "impl/wing.h"</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "impl/moveit_robot.h"</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "impl/collision_helper.h"</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include "<a class="code" href="abstract__param__reader_8h.html">reader/abstract_param_reader.h</a>"</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="robot__reader_8h.html">reader/robot_reader.h</a>"</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="wing__reader_8h.html">reader/wing_reader.h</a>"</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="cuboid__reader_8h.html">reader/cuboid_reader.h</a>"</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_generator.h></span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_data.h></span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <moveit_grasps/two_finger_grasp_filter.h></span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <moveit_grasps/grasp_planner.h></span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
-<div class="line"><a name="l00024"></a><span class="lineno"> 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="l00024"></a><span class="lineno"><a class="line" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 24</a></span> <span class="keywordtype">int</span> <a class="code" href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv){</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  ros::init(argc, argv, <span class="stringliteral">"grasp_cell_routine"</span>);</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::shared_ptr<ros::NodeHandle> nnh = std::make_shared<ros::NodeHandle>();</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  ros::AsyncSpinner spinner(1);</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  spinner.start();</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  XmlRpc::XmlRpcValue map, task;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
-<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  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="l00032"></a><span class="lineno"> 32</span>  nnh->getParam(<span class="stringliteral">"/data"</span>,map);</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  nnh->getParam(<span class="stringliteral">"/task/groups"</span>,task);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  Abstract_map_loader* map_loader = <span class="keyword">new</span> Map_loader(map, task);</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  ros::Publisher* pub = <span class="keyword">new</span> ros::Publisher(nnh->advertise< visualization_msgs::MarkerArray >(<span class="stringliteral">"visualization_marker_array"</span>, 1)); <span class="comment">//refractor</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  Abstract_mediator* mediator = <span class="keyword">new</span> Moveit_grasp_mediator(map_loader->task_grasps(), pub, nnh);</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  Moveit_grasp_mediator* moveit_grasp_mediator = <span class="keyword">dynamic_cast<</span>Moveit_grasp_mediator*<span class="keyword">></span>(mediator); </div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  moveit_grasp_mediator->mediate();</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  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 class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">while</span> (ros::ok()){</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  ros::spinOnce();</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> }</div>
</div><!-- fragment --></div><!-- contents -->
-<div class="ttc" id="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>
+<div class="ttc" id="agrasp__cell__routine_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="grasp__cell__routine_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="grasp__cell__routine_8cpp_source.html#l00024">grasp_cell_routine.cpp:24</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/hierarchy.html b/doc/html/hierarchy.html
index 1a0743c0d3b07d21f6494fa15f086939238d5305..f5ba9ca918c481257969a1f9f43414802474846f 100644
--- a/doc/html/hierarchy.html
+++ b/doc/html/hierarchy.html
@@ -25,49 +25,43 @@ $(function() {
<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>
-<tr id="row_4_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCuboid__reader.html" target="_self">Cuboid_reader</a></td><td class="desc">Cuboid reader </td></tr>
-<tr id="row_4_1_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classJob__reader.html" target="_self">Job_reader</a></td><td class="desc">Job reader </td></tr>
-<tr id="row_4_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMap__reader.html" target="_self">Map_reader</a></td><td class="desc">Map reader </td></tr>
-<tr id="row_4_3_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="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_4_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTask__space__reader.html" target="_self">Task_space_reader</a></td><td class="desc">Task space reader </td></tr>
-<tr id="row_4_5_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTs__reader.html" target="_self">Ts_reader</a></td><td class="desc">TS reader </td></tr>
-<tr id="row_4_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="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_5_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_5_" class="arrow" onclick="toggleFolder('5_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__robot.html" target="_self">Abstract_robot</a></td><td class="desc"></td></tr>
-<tr id="row_5_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_0_" class="arrow" onclick="toggleFolder('5_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__robot__decorator.html" target="_self">Abstract_robot_decorator</a></td><td class="desc"></td></tr>
-<tr id="row_5_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPanda__decorator.html" target="_self">Panda_decorator</a></td><td class="desc"></td></tr>
-<tr id="row_5_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="classCeti__robot.html" target="_self">Ceti_robot</a></td><td class="desc">Concrete Ceti-Robot </td></tr>
-<tr id="row_5_2_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_2_" class="arrow" onclick="toggleFolder('5_2_')">▼</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_5_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__robot.html" target="_self">Moveit_robot</a></td><td class="desc"></td></tr>
-<tr id="row_6_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__robot__element.html" target="_self">Abstract_robot_element</a></td><td class="desc"></td></tr>
-<tr id="row_6_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_6_0_" class="arrow" onclick="toggleFolder('6_0_')">▼</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_6_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classField__rviz__decorator.html" target="_self">Field_rviz_decorator</a></td><td class="desc"></td></tr>
-<tr id="row_6_0_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLog__decorator.html" target="_self">Log_decorator</a></td><td class="desc"></td></tr>
-<tr id="row_6_0_2_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWing__moveit__decorator.html" target="_self">Wing_moveit_decorator</a></td><td class="desc"></td></tr>
-<tr id="row_6_0_3_" 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="classWing__rviz__decorator.html" target="_self">Wing_rviz_decorator</a></td><td class="desc"></td></tr>
-<tr id="row_6_1_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classField.html" target="_self">Field</a></td><td class="desc"></td></tr>
-<tr id="row_6_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_6_2_" class="arrow" onclick="toggleFolder('6_2_')">▼</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_6_2_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveit__panel.html" target="_self">Moveit_panel</a></td><td class="desc"></td></tr>
-<tr id="row_6_2_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRviz__panel.html" target="_self">Rviz_panel</a></td><td class="desc"></td></tr>
-<tr id="row_6_3_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWing.html" target="_self">Wing</a></td><td class="desc"></td></tr>
-<tr id="row_7_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstract__strategy.html" target="_self">Abstract_strategy</a></td><td class="desc"></td></tr>
-<tr id="row_7_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classBase__by__rotation.html" target="_self">Base_by_rotation</a></td><td class="desc"></td></tr>
-<tr id="row_8_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_8_" class="arrow" onclick="toggleFolder('8_')">▼</span><span class="icona"><span class="icon">C</span></span><b>CollisionEnvFCL</b></td><td class="desc"></td></tr>
-<tr id="row_8_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="classCollision__helper.html" target="_self">Collision_helper</a></td><td class="desc"></td></tr>
-<tr id="row_9_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structjob__data.html" target="_self">job_data</a></td><td class="desc"></td></tr>
-<tr id="row_10_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc"></td></tr>
-<tr id="row_11_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structwing__BP.html" target="_self">wing_BP</a></td><td class="desc"></td></tr>
+<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="classAbstractBase.html" target="_self">AbstractBase</a></td><td class="desc">AbstractBaseClass </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="classSimpleBase.html" target="_self">SimpleBase</a></td><td class="desc"><a class="el" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a> </td></tr>
+<tr id="row_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="classAbstractBaseImplementation.html" target="_self">AbstractBaseImplementation</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="classSimpleBaseImplementation.html" target="_self">SimpleBaseImplementation</a></td><td class="desc"><a class="el" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a> </td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractMediator.html" target="_self">AbstractMediator</a></td><td class="desc"><a class="el" href="classAbstractMediator.html" title="AbstractMediator.">AbstractMediator</a> </td></tr>
+<tr id="row_2_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classBaseCalculationMediator.html" target="_self">BaseCalculationMediator</a></td><td class="desc">Concrete Mediator </td></tr>
+<tr id="row_2_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitMediator.html" target="_self">MoveitMediator</a></td><td class="desc">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a> </td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractParamReader.html" target="_self">AbstractParamReader</a></td><td class="desc">Abstract ROS-Param reader class </td></tr>
+<tr id="row_3_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCuboidReader.html" target="_self">CuboidReader</a></td><td class="desc">Cuboid reader </td></tr>
+<tr id="row_3_1_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classJobReader.html" target="_self">JobReader</a></td><td class="desc">Job reader </td></tr>
+<tr id="row_3_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMapReader.html" target="_self">MapReader</a></td><td class="desc">Map reader </td></tr>
+<tr id="row_3_3_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRobotReader.html" target="_self">RobotReader</a></td><td class="desc">Robot reader </td></tr>
+<tr id="row_3_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTaskSpaceReader.html" target="_self">TaskSpaceReader</a></td><td class="desc">Task space reader </td></tr>
+<tr id="row_3_5_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classTSReader.html" target="_self">TSReader</a></td><td class="desc">TS reader </td></tr>
+<tr id="row_3_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classWingReader.html" target="_self">WingReader</a></td><td class="desc">Wing reader </td></tr>
+<tr id="row_4_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_4_" class="arrow" onclick="toggleFolder('4_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobot.html" target="_self">AbstractRobot</a></td><td class="desc">Abstract Robot implementation </td></tr>
+<tr id="row_4_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_4_0_" class="arrow" onclick="toggleFolder('4_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotDecorator.html" target="_self">AbstractRobotDecorator</a></td><td class="desc">Abstract Robot Decorator </td></tr>
+<tr id="row_4_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPandaDecorator.html" target="_self">PandaDecorator</a></td><td class="desc">Panda Decorator </td></tr>
+<tr id="row_4_0_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR10Decorator.html" target="_self">UR10Decorator</a></td><td class="desc">Panda Mediator </td></tr>
+<tr id="row_4_0_2_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUR5Decorator.html" target="_self">UR5Decorator</a></td><td class="desc">UR5 Decorator </td></tr>
+<tr id="row_4_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classCetiRobot.html" target="_self">CetiRobot</a></td><td class="desc">Concrete Ceti-Robot </td></tr>
+<tr id="row_5_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_5_" class="arrow" onclick="toggleFolder('5_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotElement.html" target="_self">AbstractRobotElement</a></td><td class="desc"></td></tr>
+<tr id="row_5_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_0_" class="arrow" onclick="toggleFolder('5_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classAbstractRobotElementDecorator.html" target="_self">AbstractRobotElementDecorator</a></td><td class="desc"></td></tr>
+<tr id="row_5_0_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classLogDecorator.html" target="_self">LogDecorator</a></td><td class="desc"></td></tr>
+<tr id="row_5_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_5_1_" class="arrow" onclick="toggleFolder('5_1_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPanel.html" target="_self">Panel</a></td><td class="desc"></td></tr>
+<tr id="row_5_1_0_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classMoveitPanel.html" target="_self">MoveitPanel</a></td><td class="desc"></td></tr>
+<tr id="row_5_1_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classRvizPanel.html" target="_self">RvizPanel</a></td><td class="desc"></td></tr>
+<tr id="row_6_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">▼</span><span class="icona"><span class="icon">C</span></span><b>ConditionNode</b></td><td class="desc"></td></tr>
+<tr id="row_6_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classPositionCondition.html" target="_self">PositionCondition</a></td><td class="desc"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node </td></tr>
+<tr id="row_7_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">▼</span><span class="icona"><span class="icon">C</span></span><b>ControlNode</b></td><td class="desc"></td></tr>
+<tr id="row_7_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classParallel__robot.html" target="_self">Parallel_robot</a></td><td class="desc"></td></tr>
+<tr id="row_8_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structjob__data.html" target="_self">job_data</a></td><td class="desc">Job data </td></tr>
+<tr id="row_9_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structobject__data.html" target="_self">object_data</a></td><td class="desc">Object data </td></tr>
+<tr id="row_10_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structprotobuf__entry.html" target="_self">protobuf_entry</a></td><td class="desc">Protobuf entry </td></tr>
+<tr id="row_11_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_11_" class="arrow" onclick="toggleFolder('11_')">▼</span><span class="icona"><span class="icon">C</span></span><b>StatefulActionNode</b></td><td class="desc"></td></tr>
+<tr id="row_11_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classExecution.html" target="_self">Execution</a></td><td class="desc"><a class="el" href="classExecution.html" title="Execution node as StatefulActionNode.">Execution</a> node as StatefulActionNode </td></tr>
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-<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>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0a92ddf506735cefb1b043b5fbbad680">◆ </a></span>box_size</h2>
-
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-<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>
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-<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>
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-
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-<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>
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-
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-<a href="http://wiki.ros.org/multi_cell_builder">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="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 />
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-Classes</h2></td></tr>
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-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>
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-Enumerations</h2></td></tr>
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-  <a class="el" href="impl_2abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1afd54201e477840d823ca1036429ecb8c">_ML</a> = 3,
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-<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>
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-</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>
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-<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>
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-</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>
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-<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>
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-</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>
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-<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>
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-<title>multi_cell_builder: abstract_robot.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_8f74abbdbad6e793f5da56469e42956a.html">impl</a></li> </ul>
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- <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>
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-<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>
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-<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>
-
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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>
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-<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_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="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>
-
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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>
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-</body>
-</html>
diff --git a/doc/html/impl_2field_8h.html b/doc/html/impl_2field_8h.html
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-<code>#include "<a class="el" href="impl_2abstract__robot__element_8h_source.html">impl/abstract_robot_element.h</a>"</code><br />
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-<a href="http://wiki.ros.org/multi_cell_builder">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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-<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>
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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"> 4</span> <span class="preprocessor">#include "ros/ros.h"</span></div>
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-<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>
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-<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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--- a/doc/html/index-msg.html
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@@ -25,7 +25,7 @@ See also:
-<p class="footer"><small><em>autogenerated on Thu, 12 Jan 2023 23:45:45</em></small></p>
+<p class="footer"><small><em>autogenerated on Mon, 27 Mar 2023 19:07:16</em></small></p>
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Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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+<tr><td><img src="inherit_graph_7.png" border="0" usemap="#job__data" alt=""/>
+<map name="job__data" id="job__data">
+<area shape="rect" href="structjob__data.html" title="Job data." alt="" coords="5,5,84,32"/>
</map>
</td></tr>
-<tr><td><img src="inherit_graph_8.png" border="0" usemap="#Collision__helper" alt=""/>
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-<area shape="rect" href="classCollision__helper.html" title=" " alt="" coords="180,5,307,32"/>
+<tr><td><img src="inherit_graph_8.png" border="0" usemap="#object__data" alt=""/>
+<map name="object__data" id="object__data">
+<area shape="rect" href="structobject__data.html" title="Object data." alt="" coords="5,5,104,32"/>
</map>
</td></tr>
-<tr><td><img src="inherit_graph_9.png" border="0" usemap="#job__data" alt=""/>
-<map name="job__data" id="job__data">
-<area shape="rect" href="structjob__data.html" title=" " alt="" coords="5,5,84,32"/>
+<tr><td><img src="inherit_graph_9.png" border="0" usemap="#Parallel__robot" alt=""/>
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-<area shape="rect" href="structobject__data.html" title=" " alt="" coords="5,5,104,32"/>
+<tr><td><img src="inherit_graph_10.png" border="0" usemap="#PositionCondition" alt=""/>
+<map name="PositionCondition" id="PositionCondition">
+<area shape="rect" title=" " alt="" coords="5,5,124,32"/>
+<area shape="rect" href="classPositionCondition.html" title="PositionCondition Node." alt="" coords="172,5,308,32"/>
+</map>
+</td></tr>
+<tr><td><img src="inherit_graph_11.png" border="0" usemap="#protobuf__entry" alt=""/>
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+<area shape="rect" href="structprotobuf__entry.html" title="Protobuf entry." alt="" coords="5,5,124,32"/>
</map>
</td></tr>
-<tr><td><img src="inherit_graph_11.png" border="0" usemap="#wing__BP" alt=""/>
+<tr><td><img src="inherit_graph_12.png" border="0" usemap="#wing__BP" alt=""/>
<map name="wing__BP" id="wing__BP">
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@@ -122,7 +120,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/job__reader_8cpp.html b/doc/html/job__reader_8cpp.html
index 5279fa9d4da6e5a96a609426c9c2c8995365b18a..9e75f5ed06cf0539ede988556c9f144c308eac73 100644
--- a/doc/html/job__reader_8cpp.html
+++ b/doc/html/job__reader_8cpp.html
@@ -56,7 +56,7 @@ Include dependency graph for job_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/job__reader_8cpp_source.html b/doc/html/job__reader_8cpp_source.html
index bd89150935c6cc5ea532072d1876f7b0b6fbd324..a8803693af541d14c4624b6a88bfa04214b4cb58 100644
--- a/doc/html/job__reader_8cpp_source.html
+++ b/doc/html/job__reader_8cpp_source.html
@@ -29,10 +29,10 @@ $(function() {
<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="l00005"></a><span class="lineno"><a class="line" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce"> 5</a></span> <span class="keywordtype">void</span> <a class="code" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">JobReader::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="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">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>
@@ -53,13 +53,13 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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>
@@ -70,31 +70,31 @@ $(function() {
<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="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">setJobData</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="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_jd : <a class="code" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">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="aclassJobReader_html_a63ae7854b0518132d5f1016bf3da38ce"><div class="ttname"><a href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">JobReader::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="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>
+<div class="ttc" id="aclassJobReader_html_af30f87805758a9fc687bbeac03e8df59"><div class="ttname"><a href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">JobReader::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="astructjob__data_html_a9995696b3e7a24afb51e67a3cc8616d0"><div class="ttname"><a href="structjob__data.html#a9995696b3e7a24afb51e67a3cc8616d0">job_data::jobs_</a></div><div class="ttdeci">std::vector< tf2::Transform > jobs_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00022">abstract_param_reader.h:22</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassJobReader_html_ad98d5492c0761be374fba91674a01e56"><div class="ttname"><a href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">JobReader::setJobData</a></div><div class="ttdeci">void setJobData(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="ttdoc">Job data.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00021">abstract_param_reader.h:21</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
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Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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--- a/doc/html/job__reader_8h_source.html
+++ b/doc/html/job__reader_8h_source.html
@@ -37,40 +37,40 @@ $(function() {
<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="l00016"></a><span class="lineno"><a class="line" href="classJobReader.html"> 16</a></span> <span class="keyword">class </span><a class="code" href="classJobReader.html">JobReader</a> : <span class="keyword">public</span> <a class="code" href="classAbstractParamReader.html">AbstractParamReader</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="l00018"></a><span class="lineno"><a class="line" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59"> 18</a></span>  boost::circular_buffer<std::pair<std::string, job_data>> <a class="code" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">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="l00026"></a><span class="lineno"><a class="line" href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57"> 26</a></span>  <a class="code" href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">JobReader</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="classAbstractParamReader.html">AbstractParamReader</a>(d)</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  {<a class="code" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">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="l00035"></a><span class="lineno"><a class="line" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56"> 35</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">setJobData</a>(boost::circular_buffer<std::pair<std::string, job_data>>& robot_data) {<a class="code" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">job_data_</a> = robot_data;}</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="l00041"></a><span class="lineno"><a class="line" href="classJobReader.html#a56accc7df48201c78715c22195e4965e"> 41</a></span>  <span class="keyword">inline</span> boost::circular_buffer<std::pair<std::string, job_data>>& <a class="code" href="classJobReader.html#a56accc7df48201c78715c22195e4965e">robotData</a>() {<span class="keywordflow">return</span> <a class="code" href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">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="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">void</span> <a class="code" href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">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="aclassJobReader_html_a63ae7854b0518132d5f1016bf3da38ce"><div class="ttname"><a href="classJobReader.html#a63ae7854b0518132d5f1016bf3da38ce">JobReader::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="aclassJobReader_html_a56accc7df48201c78715c22195e4965e"><div class="ttname"><a href="classJobReader.html#a56accc7df48201c78715c22195e4965e">JobReader::robotData</a></div><div class="ttdeci">boost::circular_buffer< std::pair< std::string, job_data > > & robotData()</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="aclassJobReader_html_af30f87805758a9fc687bbeac03e8df59"><div class="ttname"><a href="classJobReader.html#af30f87805758a9fc687bbeac03e8df59">JobReader::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="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>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassJobReader_html_ad98d5492c0761be374fba91674a01e56"><div class="ttname"><a href="classJobReader.html#ad98d5492c0761be374fba91674a01e56">JobReader::setJobData</a></div><div class="ttdeci">void setJobData(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="aclassJobReader_html"><div class="ttname"><a href="classJobReader.html">JobReader</a></div><div class="ttdoc">Job reader.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00016">job_reader.h:16</a></div></div>
+<div class="ttc" id="aclassJobReader_html_ac8e43cb1c16a0580b63c75acf1501b57"><div class="ttname"><a href="classJobReader.html#ac8e43cb1c16a0580b63c75acf1501b57">JobReader::JobReader</a></div><div class="ttdeci">JobReader(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>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/log__decorator_8cpp.html b/doc/html/log__decorator_8cpp.html
index 40b753496f559a39e8bc12e885c1c50313883bd9..1b318937983043cd4c900ec1f5353dce06b1b73c 100644
--- a/doc/html/log__decorator_8cpp.html
+++ b/doc/html/log__decorator_8cpp.html
@@ -35,8 +35,8 @@ Include dependency graph for log_decorator.cpp:</div>
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-<area shape="rect" href="robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="207,273,381,315"/>
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<area shape="rect" title=" " alt="" coords="204,363,403,389"/>
</map>
</div>
@@ -48,7 +48,7 @@ Include dependency graph for log_decorator.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/log__decorator_8cpp__incl.map b/doc/html/log__decorator_8cpp__incl.map
index a873699c3e0391aa8b3ec6ec9ad6fd5a26df143a..0b92001b93b21221eec9e3b462bf0ebbb2231ea1 100644
--- a/doc/html/log__decorator_8cpp__incl.map
+++ b/doc/html/log__decorator_8cpp__incl.map
@@ -3,7 +3,7 @@
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<area shape="rect" id="node7" title=" " alt="" coords="204,363,403,389"/>
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diff --git a/doc/html/log__decorator_8cpp__incl.md5 b/doc/html/log__decorator_8cpp__incl.md5
index 5360d3c17c9a886b97c254d8345e945ffea48ee7..19913f2e3a44c93b539b2a0060a23db64bd60e2b 100644
--- a/doc/html/log__decorator_8cpp__incl.md5
+++ b/doc/html/log__decorator_8cpp__incl.md5
@@ -1 +1 @@
-ac81fa4d9a9cb23f4aa024369d296d79
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+45e21f6e8a827e10177913e8fc0b4399
\ No newline at end of file
diff --git a/doc/html/log__decorator_8cpp_source.html b/doc/html/log__decorator_8cpp_source.html
index a047750f391562a42466a93b1340556f8e3087f9..6a9ba73fd3e55a69f38cce68bbb7c6b2c4f32cbd 100644
--- a/doc/html/log__decorator_8cpp_source.html
+++ b/doc/html/log__decorator_8cpp_source.html
@@ -27,47 +27,46 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6"> 3</a></span> <a class="code" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator::LogDecorator</a>(std::unique_ptr<AbstractRobotElement> next) </div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> : <a class="code" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="l00006"></a><span class="lineno"> 6</span>  ROS_INFO(<span class="stringliteral">"LOG Decorator: %s"</span>, <a class="code" href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->name().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="l00009"></a><span class="lineno"><a class="line" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49"> 9</a></span> <span class="keywordtype">void</span> <a class="code" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">LogDecorator::inputFilter</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="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->name().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="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getOrigin().getX(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getOrigin().getY(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</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="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getRotation().getX(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getRotation().getY(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getRotation().getZ(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</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="l00015"></a><span class="lineno"><a class="line" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3"> 15</a></span> <span class="keywordtype">void</span> <a class="code" href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">LogDecorator::update</a>(tf2::Transform& tf) {</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">inputFilter</a>();</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator::update</a>(tf);</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">outputFilter</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="l00021"></a><span class="lineno"><a class="line" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24"> 21</a></span> <span class="keywordtype">void</span> <a class="code" href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">LogDecorator::outputFilter</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="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">next_</a>->name().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="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getOrigin().getX(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getOrigin().getY(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</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="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getRotation().getX(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getRotation().getY(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</a>().getRotation().getZ(), <a class="code" href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">worldTf</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>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_add8fa935879fcd630178bff52ce534f6"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#add8fa935879fcd630178bff52ce534f6">AbstractRobotElementDecorator::update</a></div><div class="ttdeci">void update(tf2::Transform &tf) override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00026">abstract_robot_element_decorator.h:26</a></div></div>
+<div class="ttc" id="aclassLogDecorator_html_a25dfa5477bae14fd7b25c3c145835e24"><div class="ttname"><a href="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">LogDecorator::outputFilter</a></div><div class="ttdeci">void outputFilter() 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="aclassAbstractRobotElementDecorator_html_a94e56b3357613e351fef8d9c799f4a8b"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#a94e56b3357613e351fef8d9c799f4a8b">AbstractRobotElementDecorator::worldTf</a></div><div class="ttdeci">tf2::Transform & worldTf() override</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00020">abstract_robot_element_decorator.h:20</a></div></div>
+<div class="ttc" id="aclassLogDecorator_html_ac07d63e9c572dcea9970bac9c31a79e3"><div class="ttname"><a href="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">LogDecorator::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="aclassLogDecorator_html_a78fe39a2d7d767a5927e90ea4424e0a6"><div class="ttname"><a href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator::LogDecorator</a></div><div class="ttdeci">LogDecorator(std::unique_ptr< AbstractRobotElement > 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="aclassAbstractRobotElementDecorator_html"><div class="ttname"><a href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00007">abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElementDecorator_html_acf78ad24fc6586f8c22ce318e71aa133"><div class="ttname"><a href="classAbstractRobotElementDecorator.html#acf78ad24fc6586f8c22ce318e71aa133">AbstractRobotElementDecorator::next_</a></div><div class="ttdeci">std::unique_ptr< AbstractRobotElement > next_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00010">abstract_robot_element_decorator.h:10</a></div></div>
+<div class="ttc" id="aclassLogDecorator_html_acac279301b1c1328a7d3a3cedcbd5d49"><div class="ttname"><a href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">LogDecorator::inputFilter</a></div><div class="ttdeci">void inputFilter() 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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/log__decorator_8h.html b/doc/html/log__decorator_8h.html
index 3c87da7554f506d24781edddf5e630cb1a01952a..5ac54d1abbcc81916f1f1a6e31b4ff2771d1515a 100644
--- a/doc/html/log__decorator_8h.html
+++ b/doc/html/log__decorator_8h.html
@@ -29,7 +29,7 @@ $(function() {
<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 />
+<code>#include "<a class="el" href="abstract__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">
@@ -38,8 +38,8 @@ Include dependency graph for log_decorator.h:</div>
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<area shape="rect" title=" " alt="" coords="99,273,178,300"/>
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+<area shape="rect" href="abstract__robot__element__decorator_8h.html" title=" " alt="" coords="197,80,387,136"/>
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<area shape="rect" title=" " alt="" coords="202,273,401,300"/>
</map>
</div>
@@ -48,11 +48,14 @@ This graph shows which files directly or indirectly include this file:</div>
<div class="dyncontent">
<div class="center"><img src="log__decorator_8h__dep__incl.png" border="0" usemap="#log__decorator_8hdep" alt=""/></div>
<map name="log__decorator_8hdep" id="log__decorator_8hdep">
-<area shape="rect" title=" " alt="" coords="279,5,401,32"/>
-<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="93,80,302,107"/>
+<area shape="rect" title=" " alt="" coords="396,5,519,32"/>
+<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="155,80,365,107"/>
<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="254,155,426,196"/>
-<area shape="rect" href="log__decorator_8cpp.html" title=" " alt="" coords="377,80,516,107"/>
+<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="440,80,587,107"/>
+<area shape="rect" href="log__decorator_8cpp.html" title=" " alt="" coords="611,80,749,107"/>
<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,162,229,189"/>
+<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="451,162,576,189"/>
+<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="601,162,762,189"/>
</map>
</div>
</div>
@@ -60,7 +63,7 @@ This graph shows which files directly or indirectly include this file:</div>
<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="classLog__decorator.html">Log_decorator</a></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classLogDecorator.html">LogDecorator</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -69,7 +72,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/log__decorator_8h__dep__incl.map b/doc/html/log__decorator_8h__dep__incl.map
index ca2d775e14341ad9c91af07945466a5be6f06ac2..a271069aed455381e4e06998f5fe68f6199b6193 100644
--- a/doc/html/log__decorator_8h__dep__incl.map
+++ b/doc/html/log__decorator_8h__dep__incl.map
@@ -1,7 +1,10 @@
<map id="log_decorator.h" name="log_decorator.h">
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-<area shape="rect" id="node2" href="$base__calculation__mediator_8h.html" title=" " alt="" coords="93,80,302,107"/>
+<area shape="rect" id="node1" title=" " alt="" coords="396,5,519,32"/>
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<area shape="rect" id="node4" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="254,155,426,196"/>
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+<area shape="rect" id="node5" href="$moveit__mediator_8h.html" title=" " alt="" coords="440,80,587,107"/>
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<area shape="rect" id="node3" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="5,162,229,189"/>
+<area shape="rect" id="node6" href="$cell__routine_8cpp.html" title=" " alt="" coords="451,162,576,189"/>
+<area shape="rect" id="node7" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="601,162,762,189"/>
</map>
diff --git a/doc/html/log__decorator_8h__dep__incl.md5 b/doc/html/log__decorator_8h__dep__incl.md5
index 1a7725274b2d03a10abe04bee0543d62c78aabf1..7bd6cfe78b7307bcbf045f7281dff3eecc077038 100644
--- a/doc/html/log__decorator_8h__dep__incl.md5
+++ b/doc/html/log__decorator_8h__dep__incl.md5
@@ -1 +1 @@
-c9471711ac6b8d43fed9551dc7f8d026
\ No newline at end of file
+e34d73453c2af2ae093f1dbbf10f1efa
\ No newline at end of file
diff --git a/doc/html/log__decorator_8h__dep__incl.png b/doc/html/log__decorator_8h__dep__incl.png
index e51b29c1eb0105c777977e468c00c91466fd96bb..759d7cbcf7471af2ca6e97a87f55fdddad32ff3a 100644
Binary files a/doc/html/log__decorator_8h__dep__incl.png and b/doc/html/log__decorator_8h__dep__incl.png differ
diff --git a/doc/html/log__decorator_8h__incl.map b/doc/html/log__decorator_8h__incl.map
index d0565ef9a0d753685262ea261d399f3d02c601b0..61110d7d444452efe3e9e6688bdb9c5df6d1538e 100644
--- a/doc/html/log__decorator_8h__incl.map
+++ b/doc/html/log__decorator_8h__incl.map
@@ -2,7 +2,7 @@
<area shape="rect" id="node1" title=" " alt="" coords="37,5,160,32"/>
<area shape="rect" id="node2" title=" " alt="" coords="99,273,178,300"/>
<area shape="rect" id="node3" title=" " alt="" coords="25,87,172,129"/>
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</map>
diff --git a/doc/html/log__decorator_8h__incl.md5 b/doc/html/log__decorator_8h__incl.md5
index 93bd393d4965fa834b3277883a3b0e27b344c006..907a1b82f85a375c669d344bd963731f7ee9c4e6 100644
--- a/doc/html/log__decorator_8h__incl.md5
+++ b/doc/html/log__decorator_8h__incl.md5
@@ -1 +1 @@
-1666432ac7d6b3eda0ed3c9f177bdeb6
\ No newline at end of file
+20e88ff3e1d1f2b01d078201f95d7a63
\ No newline at end of file
diff --git a/doc/html/log__decorator_8h_source.html b/doc/html/log__decorator_8h_source.html
index bf483bf15731a4909704724bbb3d6b8bc5a8a7ce..3b20d54f13359853f628b4c5bbb62f88e9fd805e 100644
--- a/doc/html/log__decorator_8h_source.html
+++ b/doc/html/log__decorator_8h_source.html
@@ -30,34 +30,34 @@ $(function() {
<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="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "<a class="code" href="abstract__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="l00008"></a><span class="lineno"><a class="line" href="classLogDecorator.html"> 8</a></span> <span class="keyword">class </span><a class="code" href="classLogDecorator.html">LogDecorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</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="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classLogDecorator.html#a78fe39a2d7d767a5927e90ea4424e0a6">LogDecorator</a>(std::unique_ptr<AbstractRobotElement> <a class="code" href="classAbstractRobotElementDecorator.html#ac9ffe909ec3948fa64571d7a9d1c9415">next</a>);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordtype">void</span> <a class="code" href="classLogDecorator.html#acac279301b1c1328a7d3a3cedcbd5d49">inputFilter</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="classLogDecorator.html#ac07d63e9c572dcea9970bac9c31a79e3">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="classLogDecorator.html#a25dfa5477bae14fd7b25c3c145835e24">outputFilter</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>
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+<div class="ttc" id="aclassAbstractRobotElementDecorator_html"><div class="ttname"><a href="classAbstractRobotElementDecorator.html">AbstractRobotElementDecorator</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element__decorator_8h_source.html#l00007">abstract_robot_element_decorator.h:7</a></div></div>
+<div class="ttc" id="aabstract__robot__element__decorator_8h_html"><div class="ttname"><a href="abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</a></div></div>
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-<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>
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-<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>
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-<title>multi_cell_builder: map_loader.h File Reference</title>
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-<div class="title">map_loader.h File Reference</div> </div>
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-<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">
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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-<title>multi_cell_builder: 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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-</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>
diff --git a/doc/html/map__reader_8cpp.html b/doc/html/map__reader_8cpp.html
index 2fb9b76165a5e7ae9b9077d9a08a5909a32c00bd..e3609ac074a32e70cbe9d5a724606815b12427ff 100644
--- a/doc/html/map__reader_8cpp.html
+++ b/doc/html/map__reader_8cpp.html
@@ -52,7 +52,7 @@ Include dependency graph for map_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/map__reader_8cpp_source.html b/doc/html/map__reader_8cpp_source.html
index 2bb4ebc0f234abc1db56831ad3f73a4237f5eb14..d946077d27e8a930f39fa98a735eeaf318c842f9 100644
--- a/doc/html/map__reader_8cpp_source.html
+++ b/doc/html/map__reader_8cpp_source.html
@@ -27,11 +27,11 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">MapReader::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="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">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="l00007"></a><span class="lineno"> 7</span>  std::vector<tf2::Transform> map_data;</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>
@@ -39,31 +39,30 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  map_data.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="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">setMapData</a>(map_data);</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>
+<div class="ttc" id="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassMapReader_html_a21902fe2ed2af654d9870a4d06863501"><div class="ttname"><a href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">MapReader::setMapData</a></div><div class="ttdeci">void setMapData(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>
+<div class="ttc" id="aclassMapReader_html_a8dc380dc6b3143cc1b2030adfa67e0da"><div class="ttname"><a href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">MapReader::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="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/map__reader_8h.html b/doc/html/map__reader_8h.html
index 70d673efdf6b2af564017b74cf5862cae6fa4053..cfb69ed0e2b2857634d5eda5716868153bdb3553 100644
--- a/doc/html/map__reader_8h.html
+++ b/doc/html/map__reader_8h.html
@@ -65,8 +65,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classMapReader.html">MapReader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Map reader. <a href="classMapReader.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -75,7 +75,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/map__reader_8h_source.html b/doc/html/map__reader_8h_source.html
index ab1c3cc8b69e086671407110aa73787b6989be81..367694be13da82462592a95a55f9d37ff2131a57 100644
--- a/doc/html/map__reader_8h_source.html
+++ b/doc/html/map__reader_8h_source.html
@@ -36,38 +36,38 @@ $(function() {
<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="l00015"></a><span class="lineno"><a class="line" href="classMapReader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classMapReader.html">MapReader</a> : <span class="keyword">public</span> <a class="code" href="classAbstractParamReader.html">AbstractParamReader</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="l00017"></a><span class="lineno"><a class="line" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad"> 17</a></span>  std::vector<tf2::Transform> <a class="code" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">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="l00025"></a><span class="lineno"><a class="line" href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257"> 25</a></span>  <a class="code" href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">MapReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>(d){<a class="code" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">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="l00031"></a><span class="lineno"><a class="line" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501"> 31</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">setMapData</a>(std::vector<tf2::Transform>& robot_data) {<a class="code" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">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="l00037"></a><span class="lineno"><a class="line" href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad"> 37</a></span>  <span class="keyword">inline</span> std::vector<tf2::Transform>& <a class="code" href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">mapData</a>() {<span class="keywordflow">return</span> <a class="code" href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">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="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">void</span> <a class="code" href="classMapReader.html#a8dc380dc6b3143cc1b2030adfa67e0da">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="aclassMapReader_html_a5e34e764186fd6f0c91cc6e03827d6ad"><div class="ttname"><a href="classMapReader.html#a5e34e764186fd6f0c91cc6e03827d6ad">MapReader::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="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>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassMapReader_html_adbde1ae7737a0d4a92a015c06f7993ad"><div class="ttname"><a href="classMapReader.html#adbde1ae7737a0d4a92a015c06f7993ad">MapReader::mapData</a></div><div class="ttdeci">std::vector< tf2::Transform > & mapData()</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="aclassMapReader_html"><div class="ttname"><a href="classMapReader.html">MapReader</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="aclassMapReader_html_a21902fe2ed2af654d9870a4d06863501"><div class="ttname"><a href="classMapReader.html#a21902fe2ed2af654d9870a4d06863501">MapReader::setMapData</a></div><div class="ttdeci">void setMapData(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>
+<div class="ttc" id="aclassMapReader_html_a746a6a5d4782e6b374cf66012c7c6257"><div class="ttname"><a href="classMapReader.html#a746a6a5d4782e6b374cf66012c7c6257">MapReader::MapReader</a></div><div class="ttdeci">MapReader(std::shared_ptr< ros::NodeHandle > const &d)</div><div class="ttdoc">Map reader.</div><div class="ttdef"><b>Definition:</b> <a href="map__reader_8h_source.html#l00025">map_reader.h:25</a></div></div>
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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="structwing__BP.html">wing_BP</a></td></tr>
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-<a href="http://wiki.ros.org/multi_cell_builder">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">mediator/abstract_mediator.h</div> </div>
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-<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>
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-<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>
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-<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>
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-<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>
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-<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
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-<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>
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-<div class="textblock"><code>#include "<a class="el" href="mediator_8h_source.html">impl/mediator.h</a>"</code><br />
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-<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>
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- <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>
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-<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>
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-<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>
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-<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>
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-<a href="http://wiki.ros.org/multi_cell_builder">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">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>
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-<div class="title">moveit_grasp_mediator.h</div> </div>
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-<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>
-</div>
-</body>
-</html>
diff --git a/doc/html/moveit__mediator_8cpp.html b/doc/html/moveit__mediator_8cpp.html
index 671f3e1d6d3a7b766fca4eff1ee800ea77e0f1b4..d83e4af3399e9a65cf45c10b4d18038ef83881f4 100644
--- a/doc/html/moveit__mediator_8cpp.html
+++ b/doc/html/moveit__mediator_8cpp.html
@@ -17,147 +17,89 @@ $(function() {
<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>
+<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="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 />
+<div class="textblock"><code>#include "<a class="el" href="moveit__mediator_8h_source.html">mediator/moveit_mediator.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__mediator_8h_source.html">mediator/abstract_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 />
+<code>#include <actionlib_msgs/GoalStatusArray.h></code><br />
+<code>#include <chrono></code><br />
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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>
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-<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>
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-</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>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a83e709b064acbbdd1ba1382937d57cec">◆ </a></span>task__</h2>
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-<div class="memitem">
-<div class="memproto">
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- <td class="memname">thread_local moveit::task_constructor::Task task__</td>
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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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-
-<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>
-
-</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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index 1b275aaefb02e5d65fff6ba367e8041dc891364b..f6f6e4ac860c6a086f4a8cfff56e409f20ff94cc 100644
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+++ b/doc/html/moveit__mediator_8cpp_source.html
@@ -17,7 +17,7 @@ $(function() {
<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>
+<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">
@@ -25,1360 +25,978 @@ $(function() {
<div class="title">moveit_mediator.cpp</div> </div>
</div><!--header-->
<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>
+<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">mediator/moveit_mediator.h</a>"</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include "<a class="code" href="abstract__mediator_8h.html">mediator/abstract_mediator.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"> 4</span> <span class="preprocessor">#include <thread></span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <mutex></span> </div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <algorithm></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <gb_grasp/MapGenerator.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <regex></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <actionlib_msgs/GoalStatusArray.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <chrono></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="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792"> 12</a></span> <a class="code" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator::MoveitMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh)</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  : <a class="code" href="classAbstractMediator.html">AbstractMediator</a>(nh)</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  , sampling_planner_(std::make_unique<moveit::task_constructor::solvers::PipelinePlanner>())</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  , cartesian_planner_(std::make_unique<moveit::task_constructor::solvers::CartesianPath>())</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  , psi_(std::make_unique<moveit::planning_interface::PlanningSceneInterface>())</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  , mgi_(std::make_shared<moveit::planning_interface::MoveGroupInterface>(<span class="stringliteral">"panda_arms"</span>))</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  , planning_scene_diff_publisher_(std::make_shared<ros::Publisher>(nh_->advertise<moveit_msgs::PlanningScene>(<span class="stringliteral">"planning_scene"</span>, 1)))</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  , planning_scene_monitor_(std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(<span class="stringliteral">"robot_description"</span>))</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  , job_reader_(std::make_unique<<a class="code" href="classJobReader.html">JobReader</a>>(nh_))</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  , cuboid_reader_(std::make_unique<<a class="code" href="classCuboidReader.html">CuboidReader</a>>(nh)){</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordflow">if</span> (<a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>->getPlanningScene()){</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="stringliteral">"planning_scene"</span>);</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>->getPlanningScene()->setName(<span class="stringliteral">"planning_scene"</span>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ROS_ERROR_STREAM_NAMED(<span class="stringliteral">"test"</span>, <span class="stringliteral">"Planning scene not configured"</span>);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  }</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  robot_model_loader::RobotModelLoaderPtr robot_model_loader;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  robot_model_loader = std::make_shared<robot_model_loader::RobotModelLoader>(<span class="stringliteral">"robot_description"</span>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a> = robot_model_loader->getModel();</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a> = std::make_shared<planning_scene::PlanningScene>(<a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a>);</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="comment">// planner </span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>->setProperty(<span class="stringliteral">"goal_joint_tolerance"</span>, 1e-5);</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="comment">// cartesian</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setMaxVelocityScaling(1.0);</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setMaxAccelerationScaling(1.0);</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>->setStepSize(.01);</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  };</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada"> 47</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) {</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  ROS_INFO(<span class="stringliteral">"connecting %s..."</span>, robot->name().c_str());</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  robot->spezifieRobotGroups();</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
-<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <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="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(robot->map().at(<span class="stringliteral">"base"</span>).c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: robot->mgi()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> name: robot->mgiHand()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : robot->mgi()->getLinkNames()) <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(link, std::vector<std::uint8_t>());</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"left_finger"</span>], std::vector<std::uint8_t>());</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"right_finger"</span>], std::vector<std::uint8_t>());</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"hand_link"</span>], std::vector<std::uint8_t>());</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>.insert_or_assign(robot->map()[<span class="stringliteral">"base"</span>], std::vector<std::uint8_t>());</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.insert_or_assign(robot->name(), std::move(robot)); </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> }</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
-<div class="line"><a name="l00067"></a><span class="lineno"><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="l00067"></a><span class="lineno"> 67</span>  </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c"> 68</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a>(){</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">auto</span> wd = <a class="code" href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">wing_reader_</a>->wingData();</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ceti_bot-><a class="code" href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">setObserverMask</a>(<span class="keyword">static_cast<</span><a class="code" href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a><span class="keyword">></span>(wd.at(s_r.first).second));</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  } <span class="keywordflow">catch</span>(<span class="keyword">const</span> std::out_of_range& oor) {</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  ROS_INFO(<span class="stringliteral">"No mask data for %s"</span>, s_r.first.c_str());</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  }</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">for</span> (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="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span> (ceti_bot->observerMask()[j]){</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  tf2::Transform relative_tf = ceti_bot->tf().inverse() * wd.at(ceti_bot->name()).first[j].pose_;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  std::unique_ptr<AbstractRobotElement> panel = std::make_unique<MoveitPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);</div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(std::move(panel));</div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  panels[j] = std::move(log);</div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  } <span class="keywordflow">catch</span> (std::out_of_range &oor){</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  ROS_INFO(<span class="stringliteral">"OOR in set_panel"</span>);</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  }</div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  ceti_bot->setObservers(panels);</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  s_r.second->notify();</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  }</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> }</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
+<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d"> 105</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a>(){</div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ros::WallDuration sleep_time(1.0);</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">auto</span> ceti_bot = <span class="keyword">dynamic_cast<</span><a class="code" href="classCetiRobot.html">CetiRobot</a>*<span class="keyword">></span>(s_r.second->next());</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">for</span> (std::size_t k = 0; k < ceti_bot->observerMask().size(); k++){</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">if</span>(ceti_bot->observerMask()[k]){</div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">auto</span> wmd = <span class="keyword">dynamic_cast<</span><a class="code" href="classMoveitPanel.html">MoveitPanel</a>*<span class="keyword">></span>(ceti_bot->observers()[k]->next());</div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(wmd->marker());</div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(wmd->marker().id.c_str(), std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  sleep_time.sleep();</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  }</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> }</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867"> 122</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a>(){</div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>();</div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>();</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>();</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  ros::waitForShutdown();</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> };</div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
+<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0"> 131</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::PlanningScene& ps){</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">// First find ID from panda to start with</span></div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  std::regex rx_panda(mr-><a class="code" href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">pattern</a>());</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  std::smatch match;</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  std::regex_match(mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), match, rx_panda);</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  </div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// build panda link regex</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  ss << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_.*"</span>;</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  std::regex rx_panda_links(ss.str());</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  std::regex rx_box(<span class="stringliteral">"box_.*"</span>);</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  std::regex rx_table(<span class="stringliteral">"table.*"</span>);</div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// Iterate task collsion matrix</span></div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < ps.allowed_collision_matrix.entry_names.size(); j++ ){</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span>( mr->map().at(<span class="stringliteral">"base"</span>) == ps.allowed_collision_matrix.entry_names[j]){</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str(), j);</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  }</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  } </div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  } </div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  </div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(mr->map().at(<span class="stringliteral">"base"</span>))[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  }</div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_panda_links)){</div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j].c_str(), j);</div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="comment">//For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  }</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  } </div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  } </div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  }</div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  </div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_box)){</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j].c_str(), j);</div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="comment">//For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  }</div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  } </div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  } </div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  }</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  }</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">if</span>(std::regex_match(ps.allowed_collision_matrix.entry_names[j], match, rx_table)){</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="comment">//In case an entry matches an robot spezific link</span></div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  ROS_INFO(<span class="stringliteral">"entry matches link %s at index %i"</span>, ps.allowed_collision_matrix.entry_names[j], j);</div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> k = 0; k < ps.allowed_collision_matrix.entry_values[j].enabled.size(); k++){</div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="comment">//For that specific entry, loop over values </span></div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordtype">int</span> distance = std::distance(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.begin(),<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.find(ps.allowed_collision_matrix.entry_names[k])); </div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  </div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_panda_links)){</div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to link_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  </div>
+<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_box)){</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to box_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  } </div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">if</span> (std::regex_match(ps.allowed_collision_matrix.entry_names[k], match, rx_table)){</div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to table_pattern %s"</span>, match[0].str().c_str());</div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  } </div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  </div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">if</span> (mr->map().at(<span class="stringliteral">"base"</span>)== ps.allowed_collision_matrix.entry_names[k]){</div>
+<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  ROS_INFO(<span class="stringliteral">"Entry in row corresponds to base %s"</span>, mr->map().at(<span class="stringliteral">"base"</span>).c_str());</div>
+<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  ROS_INFO(<span class="stringliteral">"Changing at %s at position %i to %i"</span>, ps.allowed_collision_matrix.entry_names[k].c_str(), distance, ps.allowed_collision_matrix.entry_values[j].enabled[k]);</div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.at(ps.allowed_collision_matrix.entry_names[j])[distance] = ps.allowed_collision_matrix.entry_values[j].enabled[k];</div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  }</div>
+<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  }</div>
+<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  }</div>
+<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  </div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  ROS_INFO(<span class="stringliteral">"after run"</span>);</div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& entry : <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>){</div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  ROS_INFO(<span class="stringliteral">"%s"</span>, entry.first.c_str());</div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& enable : entry.second) std::cout << +enable << <span class="stringliteral">" "</span>;</div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  std::cout<< <span class="stringliteral">"\n"</span>;</div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  }</div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  </div>
+<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> }</div>
+<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  </div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div>
+<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854"> 292</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a>(){</div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="comment">/* There are 2 ways to interprete a Task </span></div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> <span class="comment"> 1. A box position in acm is also the first entry in task, </span></div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment"> 2. A box position in acm is not the first entry in task, in that case we can might try for each position</span></div>
+<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keyword">auto</span> jq = <a class="code" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a>->robotData();</div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keyword">auto</span> cd = <a class="code" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a>->cuboidBin();</div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  </div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="comment">//std::vector<std::string> objs = {"bottle1", "bottle2"};</span></div>
+<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  </div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div>
+<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  ss << <span class="stringliteral">"box_"</span> << i;</div>
+<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  </div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  moveit_msgs::CollisionObject item;</div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  item.id = ss.str();</div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  item.header.stamp = ros::Time::now();</div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  item.primitives.resize(1);</div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  item.primitives[0].type = item.primitives[0].BOX;</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  item.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  </div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  item.primitive_poses.resize(1);</div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  item.primitive_poses[0].position.x = cd[i].Pose.position.x;</div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  item.primitive_poses[0].position.y = cd[i].Pose.position.y;</div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  item.primitive_poses[0].position.z = cd[i].Pose.position.z;</div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  item.primitive_poses[0].orientation.x = cd[i].Pose.orientation.x;</div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  item.primitive_poses[0].orientation.y = cd[i].Pose.orientation.y;</div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  item.primitive_poses[0].orientation.z = cd[i].Pose.orientation.z;</div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  item.primitive_poses[0].orientation.w = cd[i].Pose.orientation.w;</div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  item.operation = item.ADD;</div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  </div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.insert(std::pair<std::string, std::vector<uint8_t>>(item.id, std::vector<uint8_t>()));</div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  </div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="comment">// Could also safe id's somewhere</span></div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  }</div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  </div>
+<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="comment">// Setup shared ACM</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& a: <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>) a.second.resize(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.size(), 0);</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  </div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  std::regex item(<span class="stringliteral">"box_([0-9]+)"</span>);</div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  std::smatch match;</div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  </div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="comment">// ----------------------------------</span></div>
+<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="comment">// GROOT Strategie => erst FROM TEXT</span></div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="comment">// ----------------------------------</span></div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  </div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  BT::BehaviorTreeFactory factory;</div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  factory.registerNodeType<<a class="code" href="classExecution.html">Execution</a>>(<span class="stringliteral">"Execution"</span>);</div>
+<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  factory.registerNodeType<<a class="code" href="classPositionCondition.html">PositionCondition</a>>(<span class="stringliteral">"PositionCondition"</span>);</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  factory.registerNodeType<<a class="code" href="classParallel__robot.html">Parallel_robot</a>>(<span class="stringliteral">"Parallel_robot"</span>);</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  </div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  std::map<const std::string, std::vector<std::tuple<const std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>> task_but_different;</div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  </div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">while</span>(!jq.empty()){</div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_co : <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects()){</div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordflow">if</span>(!std::regex_match(s_co.first, match, item)) <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div>
+<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  std::pair<std::string, job_data> temp = jq.front();</div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  ROS_INFO(<span class="stringliteral">"1. job entry %f %f %f"</span>, temp.second.jobs_.front().getOrigin().getX(), temp.second.jobs_.front().getOrigin().getY(), temp.second.jobs_.front().getOrigin().getZ());</div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  ROS_INFO(<span class="stringliteral">"object position %f %f %f"</span>, s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z);</div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(temp.second.jobs_.front().getOrigin(), tf2::Vector3(s_co.second.pose.position.x, s_co.second.pose.position.y, s_co.second.pose.position.z )) == 0) {</div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal> bt_list;</div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  </div>
+<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* ard = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  ard= <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.at(temp.first).get();</div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){</div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  ROS_INFO(<span class="stringliteral">"Robot not found"</span>);</div>
+<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  ros::shutdown();</div>
+<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  }</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  </div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="comment">// loop jobs</span></div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k < temp.second.jobs_.size(); k++){</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  moveit::task_constructor::Task mgt = <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(ard, <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects().at(s_co.first), temp.second.jobs_[k]);</div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordflow">if</span>(mgt.plan(1)) {</div>
+<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  </div>
+<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;</div>
+<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  mgt.solutions().front()->fillMessage(e.solution, &mgt.introspection());</div>
+<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  bt_list.push_back(e);</div>
+<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  moveit_msgs::CollisionObject temp_co = <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->getObjects().at(s_co.first);</div>
+<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  temp_co.operation = temp_co.MOVE;</div>
+<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  temp_co.pose.position.x = temp.second.jobs_[k].getOrigin().getX();</div>
+<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  temp_co.pose.position.y = temp.second.jobs_[k].getOrigin().getY();</div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  temp_co.pose.position.z = temp.second.jobs_[k].getOrigin().getZ();</div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  temp_co.pose.orientation.x = temp.second.jobs_[k].getRotation().getX();</div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  temp_co.pose.orientation.y = temp.second.jobs_[k].getRotation().getY();</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  temp_co.pose.orientation.z = temp.second.jobs_[k].getRotation().getZ();</div>
+<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  temp_co.pose.orientation.w = temp.second.jobs_[k].getRotation().getW();</div>
+<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(temp_co);</div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  }</div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div>
+<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  </div>
+<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="comment">/*</span></div>
+<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> <span class="comment"> if(auto condition = dynamic_cast<Position_condition*>(node_it->get())) {ROS_INFO("om");condition->init(s_co.first, temp.second.jobs_.front().getOrigin(), psi_.get()); ++node_it;}</span></div>
+<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> <span class="comment"></span> </div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> <span class="comment"> for(auto& ets : bt_list)</span></div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="comment"> if(auto execution = dynamic_cast<Execution*>(node_it->get())) {ROS_INFO("tr");execution->init(planning_scene_diff_publisher_.get(), mr->mgi().get(), ets); ++node_it;}</span></div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  </div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  ss << <span class="stringliteral">"box_"</span> << i;</div>
+<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  </div>
+<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  moveit_msgs::CollisionObject item;</div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  item.id = ss.str();</div>
+<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  item.header.stamp = ros::Time::now();</div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  item.primitives.resize(1);</div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  item.primitives[0].type = item.primitives[0].BOX;</div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  item.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div>
+<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div>
+<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  </div>
+<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  item.pose.position.x = cd[i].Pose.position.x;</div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  item.pose.position.y = cd[i].Pose.position.y;</div>
+<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  item.pose.position.z = cd[i].Pose.position.z;</div>
+<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div>
+<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div>
+<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  item.operation = item.MOVE;</div>
+<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  </div>
+<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div>
+<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">// Could also safe id's somewhere</span></div>
+<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  }</div>
+<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  </div>
+<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
+<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  task_but_different.at(ard-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>()).push_back(std::tuple<std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>(s_co.first, temp.second.jobs_.front().getOrigin(), bt_list));</div>
+<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  } <span class="keywordflow">catch</span>(std::out_of_range &oor) {</div>
+<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  std::tuple<const std::string&, tf2::Vector3&, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>&> tuple(s_co.first, temp.second.jobs_.front().getOrigin(), bt_list);</div>
+<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  task_but_different.insert(std::pair<std::string, std::vector<std::tuple<<span class="keyword">const</span> std::string, tf2::Vector3, std::vector<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>>(ard-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(),{tuple}));</div>
+<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  }</div>
+<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  jq.pop_front();</div>
+<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  } <span class="keywordflow">else</span> {jq.push_back(temp);}</div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  }</div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  }</div>
+<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  </div>
+<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  ss << <span class="stringliteral">"<root main_tree_to_execute = \"MainTree\">\n"</span>;</div>
+<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  ss << <span class="stringliteral">"<BehaviorTree ID=\"MainTree\">\n"</span>;</div>
+<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  ss << <span class="stringliteral">"<Control ID=\"Parallel\" name=\"Agents\" success_threshold=\""</span><< <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.size() << <span class="stringliteral">"\" failure_threshold=\""</span><< <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>.size() << <span class="stringliteral">"\">\n"</span>;</div>
+<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  </div>
+<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  ss << <span class="stringliteral">"<Control ID=\"Parallel_robot\" name=\""</span><< s_r.first << <span class="stringliteral">"\" success_threshold=\""</span><< task_but_different.at(s_r.first).size() << <span class="stringliteral">"\" failure_threshold=\""</span><< task_but_different.at(s_r.first).size() << <span class="stringliteral">"\">\n"</span>;</div>
+<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& p_obj: task_but_different.at(s_r.first)){</div>
+<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  ss << <span class="stringliteral">"<SequenceStar name=\"root_sequence\">\n"</span>;</div>
+<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  ss << <span class="stringliteral">"<Condition ID=\"PositionCondition\" name=\"Position_condition\"/>\n"</span>;</div>
+<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < std::get<2>(p_obj).size(); j++){</div>
+<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  ss << <span class="stringliteral">"<Action ID=\"Execution\" name=\"Execution\"/>\n"</span>;</div>
+<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  }</div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  ss << <span class="stringliteral">"</SequenceStar>\n"</span>;</div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  }</div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  ss << <span class="stringliteral">"</Control>\n"</span>;</div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  }</div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  ss << <span class="stringliteral">"</Control>\n"</span>;</div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  ss << <span class="stringliteral">"</BehaviorTree>\n"</span>;</div>
+<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  ss << <span class="stringliteral">"</root>\n"</span>;</div>
+<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  </div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  std::cout << ss.str();</div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="keyword">auto</span> tree = factory.createTreeFromText(ss.str());</div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="keyword">auto</span> node_it = tree.nodes.begin();</div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  </div>
+<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& p_obj: task_but_different.at(s_r.first)){</div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="keywordflow">while</span> (node_it->get()->type() == BT::NodeType::CONTROL) ++node_it;</div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::ACTION) ROS_INFO(<span class="stringliteral">"Action"</span>);</div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::CONDITION) ROS_INFO(<span class="stringliteral">"Condition"</span>);</div>
+<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::CONTROL) ROS_INFO(<span class="stringliteral">"Control"</span>);</div>
+<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="keywordflow">if</span>(node_it->get()->type() == BT::NodeType::DECORATOR) ROS_INFO(<span class="stringliteral">"Decorator"</span>);</div>
+<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  </div>
+<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">if</span>(<span class="keyword">auto</span> condition = <span class="keyword">dynamic_cast<</span><a class="code" href="classPositionCondition.html">PositionCondition</a>*<span class="keyword">></span>(node_it->get())) {ROS_INFO(<span class="stringliteral">"init Condition"</span>);condition->init(std::get<0>(p_obj), std::get<1>(p_obj), <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>.get());++node_it;}</div>
+<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < std::get<2>(p_obj).size(); j++){</div>
+<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">if</span>(<span class="keyword">auto</span> execution = <span class="keyword">dynamic_cast<</span><a class="code" href="classExecution.html">Execution</a>*<span class="keyword">></span>(node_it->get())) {ROS_INFO(<span class="stringliteral">"init Action"</span>);execution->init(&<a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>, s_r.second.get(), std::get<2>(p_obj)[j]);++node_it;}</div>
+<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  }</div>
+<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  }</div>
+<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  }</div>
+<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  </div>
+<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  BT::PublisherZMQ zmq(tree);</div>
+<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  ros::Duration sleep(1);</div>
+<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  BT::NodeStatus status = BT::NodeStatus::RUNNING;</div>
+<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordflow">while</span>( status == BT::NodeStatus::RUNNING){</div>
+<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  status = tree.tickRoot();</div>
+<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  </div>
+<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="comment">// std::this_thread::sleep_for(std::chrono::milliseconds(100));</span></div>
+<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  </div>
+<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  </div>
+<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  std::vector<std::thread> th;</div>
+<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  moveit_msgs::PlanningScene ps_m;</div>
+<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <span class="keywordtype">bool</span> is_executing = !(<a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.empty());</div>
+<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  </div>
+<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordflow">try</span>{</div>
+<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keyword">auto</span> temp = <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.at(s_r.first);</div>
+<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  th.push_back(std::thread(&<a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a>, <span class="keyword">this</span>, std::ref(*s_r.second.get()), temp.first));</div>
+<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="comment">//mr->mgi()->execute(temp.first);</span></div>
+<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <span class="comment">// ROS_INFO("acm in msg");</span></div>
+<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="comment">// for(int k = 0; k < temp.second.allowed_collision_matrix.entry_names.size(); k++){</span></div>
+<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="comment">// ROS_INFO("%s", temp.second.allowed_collision_matrix.entry_names[k].c_str());</span></div>
+<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <span class="comment">// for (auto& enable : temp.second.allowed_collision_matrix.entry_values[k].enabled) std::cout << +enable << " ";</span></div>
+<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <span class="comment">// std::cout<< "\n";</span></div>
+<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  <span class="comment">// }</span></div>
+<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  </div>
+<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(s_r.second.get(), temp.second);</div>
+<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(ps_m, temp.second, s_r.second.get());</div>
+<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>.erase(s_r.first);</div>
+<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  } <span class="keywordflow">catch</span> (std::out_of_range& oor){}</div>
+<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  }</div>
+<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  </div>
+<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& t : th){</div>
+<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  t.join();</div>
+<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  }</div>
+<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  <span class="keywordflow">if</span> (is_executing){</div>
+<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(ps_m);</div>
+<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <a class="code" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a>->publish(ps_m);</div>
+<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  }</div>
+<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  </div>
+<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  </div>
+<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  <span class="comment">// for(auto& exec : executions_){</span></div>
+<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <span class="comment">// for (int i = 0; i < robots_.size(); i++){</span></div>
+<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <span class="comment">// if (exec.first == robots_[i]->name()){</span></div>
+<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="comment">// auto mr = dynamic_cast<Moveit_robot*>(robots_[i]);</span></div>
+<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <span class="comment">// manipulate_acm(mr, exec.second.second);</span></div>
+<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  <span class="comment">// merge_ps(ps_m, exec.second.second, mr);</span></div>
+<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  </div>
+<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  <span class="comment">// }</span></div>
+<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="comment">// }</span></div>
+<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  <span class="comment">// }</span></div>
+<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  </div>
+<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  </div>
+<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  }</div>
+<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  </div>
+<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  </div>
+<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <span class="comment">// clean up</span></div>
+<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < cd.size(); i ++){</div>
+<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  ss << <span class="stringliteral">"box_"</span> << i;</div>
+<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  </div>
+<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  moveit_msgs::CollisionObject item;</div>
+<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  item.id = ss.str();</div>
+<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  item.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  item.header.stamp = ros::Time::now();</div>
+<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  item.primitives.resize(1);</div>
+<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  item.primitives[0].type = item.primitives[0].BOX;</div>
+<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  item.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  item.primitives[0].dimensions[0] = cd[i].x_depth;</div>
+<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  item.primitives[0].dimensions[1] = cd[i].y_width;</div>
+<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  item.primitives[0].dimensions[2] = cd[i].z_heigth;</div>
+<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  </div>
+<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  item.pose.position.x = cd[i].Pose.position.x;</div>
+<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  item.pose.position.y = cd[i].Pose.position.y;</div>
+<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  item.pose.position.z = cd[i].Pose.position.z;</div>
+<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  item.pose.orientation.x = cd[i].Pose.orientation.x;</div>
+<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  item.pose.orientation.y = cd[i].Pose.orientation.y;</div>
+<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  item.pose.orientation.z = cd[i].Pose.orientation.z;</div>
+<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  item.pose.orientation.w = cd[i].Pose.orientation.w;</div>
+<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  item.operation = item.MOVE;</div>
+<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  </div>
+<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>->applyCollisionObject(item);</div>
+<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  <span class="comment">// Could also safe id's somewhere</span></div>
+<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  }</div>
+<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> }</div>
+<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  </div>
+<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  </div>
+<div class="line"><a name="l00563"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421"> 563</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a>(moveit_msgs::PlanningScene& ps_m){</div>
+<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  moveit_msgs::PlanningScene::_allowed_collision_matrix_type acmt;</div>
+<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  acmt.entry_values.resize(<a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>.size());</div>
+<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  </div>
+<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="keywordtype">int</span> i = 0;</div>
+<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& a : <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>){</div>
+<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  acmt.entry_names.push_back(a.first);</div>
+<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  acmt.entry_values[i].enabled = a.second;</div>
+<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  i++;</div>
+<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  }</div>
+<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  </div>
+<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  <span class="comment">// ROS_INFO("merge_acm");</span></div>
+<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  <span class="comment">// for(int k = 0; k < acmt.entry_names.size(); k++){</span></div>
+<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <span class="comment">// ROS_INFO("%s", acmt.entry_names[k].c_str());</span></div>
+<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  <span class="comment">// for (auto& enable : acmt.entry_values[k].enabled){</span></div>
+<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="comment">// std::cout << +enable << " ";</span></div>
+<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  <span class="comment">// }</span></div>
+<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="comment">// std::cout<< "\n";</span></div>
+<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="comment">// }</span></div>
+<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  </div>
+<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  ps_m.allowed_collision_matrix = acmt;</div>
+<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  ROS_INFO(<span class="stringliteral">"broken after merge"</span>);</div>
+<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  </div>
+<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> }</div>
+<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  </div>
+<div class="line"><a name="l00588"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7"> 588</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr){</div>
+<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  <span class="comment">// get full mr link list </span></div>
+<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  </div>
+<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> ao : in.robot_state.attached_collision_objects) out.robot_state.attached_collision_objects.push_back(ao);</div>
+<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  out.robot_state.is_diff |= in.robot_state.is_diff;</div>
+<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  out.is_diff |= in.is_diff;</div>
+<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  out.robot_state.joint_state.header = in.robot_state.joint_state.header;</div>
+<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  out.robot_model_name = <span class="stringliteral">"panda"</span>;</div>
+<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  </div>
+<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  std::vector<std::string> links;</div>
+<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : mr-><a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->getLinkNames()) links.push_back(link);</div>
+<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  links.push_back(mr->map()[<span class="stringliteral">"left_finger"</span>]);</div>
+<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  links.push_back(mr->map()[<span class="stringliteral">"right_finger"</span>]);</div>
+<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  links.push_back(mr->map()[<span class="stringliteral">"hand_link"</span>]);</div>
+<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  links.push_back(mr->map()[<span class="stringliteral">"base"</span>]);</div>
+<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  </div>
+<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> link : links) {</div>
+<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.robot_state.joint_state.name.size(); i++){</div>
+<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <span class="keywordflow">if</span>(link == in.robot_state.joint_state.name[i]){</div>
+<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  out.robot_state.joint_state.effort.push_back(in.robot_state.joint_state.effort[i]);</div>
+<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  out.robot_state.joint_state.position.push_back(in.robot_state.joint_state.position[i]);</div>
+<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  out.robot_state.joint_state.velocity.push_back(in.robot_state.joint_state.velocity[i]);</div>
+<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  }</div>
+<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  }</div>
+<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  </div>
+<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.link_padding.size(); i++){</div>
+<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <span class="keywordflow">if</span>(link == in.link_padding[i].link_name){</div>
+<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  out.link_padding.push_back(in.link_padding[i]);</div>
+<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  }</div>
+<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  }</div>
+<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  </div>
+<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < in.link_scale.size(); i++){</div>
+<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordflow">if</span>(link == in.link_scale[i].link_name){</div>
+<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  out.link_scale.push_back(in.link_scale[i]);</div>
+<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  }</div>
+<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  }</div>
+<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  } </div>
+<div class="line"><a name="l00625"></a><span class="lineno"> 625</span> }</div>
+<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  </div>
+<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  </div>
+<div class="line"><a name="l00628"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6"> 628</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>& mr, moveit_msgs::RobotTrajectory rt){</div>
+<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  mr.<a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->execute(rt);</div>
+<div class="line"><a name="l00630"></a><span class="lineno"> 630</span> }</div>
+<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  </div>
+<div class="line"><a name="l00632"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d"> 632</a></span> moveit::task_constructor::Task <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::CollisionObject& source, tf2::Transform& target){</div>
+<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  tf2::Transform t(tf2::Quaternion(source.pose.orientation.x, source.pose.orientation.y, source.pose.orientation.z, source.pose.orientation.w), tf2::Vector3(source.pose.position.x, source.pose.position.y, source.pose.position.z));</div>
+<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  std::string support_surface1 = <span class="stringliteral">"nichts"</span>;</div>
+<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  std::string support_surface2 = <span class="stringliteral">"nichts"</span>;</div>
+<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  </div>
+<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& s_r : <a class="code" href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">robots_</a>){</div>
+<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  std::string str;</div>
+<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  std::bitset<3> panel_mask;</div>
+<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">if</span>(s_r.second->checkSingleObjectCollision(t, str, panel_mask)) support_surface1 = str;</div>
+<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <span class="keywordflow">if</span>(s_r.second->checkSingleObjectCollision(target, str, panel_mask)) support_surface2= str;</div>
+<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  }</div>
+<div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  </div>
+<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  ROS_INFO(<span class="stringliteral">"ss1 %s"</span>, support_surface1.c_str());</div>
+<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  ROS_INFO(<span class="stringliteral">"ss2 %s"</span>, support_surface2.c_str());</div>
+<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  </div>
+<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  </div>
+<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keyword">const</span> std::string <span class="keywordtype">object</span> = source.id;</div>
+<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  moveit::task_constructor::Task task_;</div>
+<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  </div>
+<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  std::string name = <span class="stringliteral">"Pick&Place"</span>;</div>
+<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  task_.stages()->setName(name + std::to_string(<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span>(ros::Time::now().toNSec())));</div>
+<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  task_.loadRobotModel();</div>
+<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  task_.setRobotModel(mr-><a class="code" href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">mgi</a>()->getRobotModel());</div>
+<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  </div>
+<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <span class="comment">// Set task properties</span></div>
+<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  task_.setProperty(<span class="stringliteral">"group"</span>, mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>());</div>
+<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  task_.setProperty(<span class="stringliteral">"eef"</span>, mr->map()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  task_.setProperty(<span class="stringliteral">"hand"</span>, mr->map()[<span class="stringliteral">"hand_group_name"</span>]);</div>
+<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  task_.setProperty(<span class="stringliteral">"hand_grasping_frame"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  task_.setProperty(<span class="stringliteral">"ik_frame"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  </div>
+<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  moveit::task_constructor::Stage* current_state_ptr = <span class="keyword">nullptr</span>; </div>
+<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  {</div>
+<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="keyword">auto</span> current_state = std::make_unique< moveit::task_constructor::stages::CurrentState>(<span class="stringliteral">"current state"</span>);</div>
+<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  <span class="keyword">auto</span> applicability_filter = std::make_unique< moveit::task_constructor::stages::PredicateFilter>(<span class="stringliteral">"applicability test"</span>, std::move(current_state));</div>
+<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  applicability_filter->setPredicate([<span class="keywordtype">object</span>](<span class="keyword">const</span> moveit::task_constructor::SolutionBase& s, std::string& comment) {</div>
+<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <span class="keywordflow">if</span> (s.start()->scene()->getCurrentState().hasAttachedBody(<span class="keywordtype">object</span>)) {</div>
+<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  comment = <span class="stringliteral">"object with id '"</span> + object + <span class="stringliteral">"' is already attached and cannot be picked"</span>;</div>
+<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  return false;</div>
+<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  }</div>
+<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  });</div>
+<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  </div>
+<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  current_state_ptr = applicability_filter.get();</div>
+<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  task_.add(std::move(applicability_filter));</div>
+<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  }</div>
+<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  </div>
+<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  { <span class="comment">// Open Hand</span></div>
+<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"open hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div>
+<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div>
+<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  }</div>
+<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  </div>
+<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  { <span class="comment">// Move-to pre-grasp</span></div>
+<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <span class="keyword">auto</span> stage = std::make_unique< moveit::task_constructor::stages::Connect>(</div>
+<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  <span class="stringliteral">"move to pick"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>} });</div>
+<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  stage->setTimeout(5.0);</div>
+<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div>
+<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  }</div>
+<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  </div>
+<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  moveit::task_constructor::Stage* attach_object_stage = <span class="keyword">nullptr</span>; <span class="comment">// Forward attach_object_stage to place pose generator</span></div>
+<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  {</div>
+<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  <span class="keyword">auto</span> grasp = std::make_unique<moveit::task_constructor::SerialContainer>(<span class="stringliteral">"pick object"</span>);</div>
+<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  task_.properties().exposeTo(grasp->properties(), { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span>, <span class="stringliteral">"ik_frame"</span> });</div>
+<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  grasp->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span>, <span class="stringliteral">"ik_frame"</span> });</div>
+<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  </div>
+<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  </div>
+<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  { <span class="comment">// Approach Obj</span></div>
+<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"approach object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div>
+<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"approach_object"</span>);</div>
+<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  stage->setMinMaxDistance(0.07, 0.2);</div>
+<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  </div>
+<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <span class="comment">// Set hand forward direction</span></div>
+<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  vec.header.frame_id = mr->map()[<span class="stringliteral">"hand_frame"</span>];</div>
+<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  vec.vector.z = 1.0;</div>
+<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  }</div>
+<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  </div>
+<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  {</div>
+<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  <span class="comment">// Sample grasp pose</span></div>
+<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::GenerateGraspPose>(<span class="stringliteral">"generate grasp pose"</span>);</div>
+<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div>
+<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"grasp_pose"</span>);</div>
+<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  stage->setPreGraspPose(<span class="stringliteral">"open"</span>);</div>
+<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  stage->setObject(<span class="keywordtype">object</span>);</div>
+<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  stage->setAngleDelta(M_PI / 12);</div>
+<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  stage->setMonitoredStage(current_state_ptr); <span class="comment">// Hook into current state</span></div>
+<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  </div>
+<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  <span class="comment">// Compute IK</span></div>
+<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div>
+<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div>
+<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div>
+<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div>
+<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  Eigen::Isometry3d ik = eigen * trans;</div>
+<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  </div>
+<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="keyword">auto</span> wrapper = std::make_unique<moveit::task_constructor::stages::ComputeIK>(<span class="stringliteral">"grasp pose IK"</span>, std::move(stage));</div>
+<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  wrapper->setMaxIKSolutions(8);</div>
+<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  wrapper->setMinSolutionDistance(1.0);</div>
+<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  wrapper->setIKFrame(ik, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div>
+<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  grasp->insert(std::move(wrapper));</div>
+<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  }</div>
+<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  </div>
+<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  {</div>
+<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (hand,object)"</span>);</div>
+<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  stage->allowCollisions(</div>
+<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr->map()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div>
+<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  }</div>
+<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  </div>
+<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  {</div>
+<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"close hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div>
+<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div>
+<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  }</div>
+<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  </div>
+<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  { <span class="comment">// Attach obj</span></div>
+<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"attach object"</span>);</div>
+<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  stage->attachObject(<span class="keywordtype">object</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  attach_object_stage = stage.get();</div>
+<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  }</div>
+<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  </div>
+<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  { <span class="comment">// Allow Collision obj table</span></div>
+<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (object,support)"</span>);</div>
+<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  }</div>
+<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  </div>
+<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  {</div>
+<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"lift object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div>
+<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  stage->setMinMaxDistance(0.1, 0.2);</div>
+<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  stage->setIKFrame(mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lift_object"</span>);</div>
+<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  </div>
+<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  <span class="comment">// Set upward direction</span></div>
+<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  vec.vector.z = 1.0;</div>
+<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  }</div>
<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  </div>
-<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  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="l00785"></a><span class="lineno"> 785</span>  { <span class="comment">// forbid collision</span></div>
+<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"forbid collision (object,surface)"</span>);</div>
+<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  stage->allowCollisions({ <span class="keywordtype">object</span> }, support_surface1, <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  grasp->insert(std::move(stage));</div>
+<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  }</div>
+<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  </div>
+<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  <span class="comment">// Add grasp container to task</span></div>
+<div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  task_.add(std::move(grasp));</div>
+<div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  }</div>
+<div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  </div>
+<div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  {</div>
+<div class="line"><a name="l00796"></a><span class="lineno"> 796</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::Connect>(</div>
+<div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  <span class="stringliteral">"move to place"</span>, moveit::task_constructor::stages::Connect::GroupPlannerVector{ { mr-><a class="code" href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">name</a>(), <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a> } });</div>
+<div class="line"><a name="l00798"></a><span class="lineno"> 798</span>  stage->setTimeout(5.0);</div>
+<div class="line"><a name="l00799"></a><span class="lineno"> 799</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT);</div>
+<div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l00801"></a><span class="lineno"> 801</span>  }</div>
+<div class="line"><a name="l00802"></a><span class="lineno"> 802</span>  </div>
+<div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  {</div>
+<div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  <span class="keyword">auto</span> place = std::make_unique<moveit::task_constructor::SerialContainer>(<span class="stringliteral">"place object"</span>);</div>
+<div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  task_.properties().exposeTo(place->properties(), { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  place->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"hand"</span>, <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  </div>
+<div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  {</div>
+<div class="line"><a name="l00809"></a><span class="lineno"> 809</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow cokbkmomsurface)"</span>);</div>
+<div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  stage->allowCollisions( {<span class="keywordtype">object</span>} , support_surface2, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  }</div>
+<div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  </div>
+<div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  </div>
+<div class="line"><a name="l00815"></a><span class="lineno"> 815</span>  {</div>
+<div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"lower object"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div>
+<div class="line"><a name="l00817"></a><span class="lineno"> 817</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"lower_object"</span>);</div>
+<div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  stage->properties().set(<span class="stringliteral">"link"</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00819"></a><span class="lineno"> 819</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00820"></a><span class="lineno"> 820</span>  stage->setMinMaxDistance(.03, .13);</div>
+<div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  </div>
+<div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  <span class="comment">// Set downward direction</span></div>
+<div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  vec.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  vec.vector.z = -1.0;</div>
+<div class="line"><a name="l00826"></a><span class="lineno"> 826</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l00827"></a><span class="lineno"> 827</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00828"></a><span class="lineno"> 828</span>  }</div>
+<div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  </div>
+<div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  {</div>
+<div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  <span class="comment">// Generate Place Pose</span></div>
+<div class="line"><a name="l00832"></a><span class="lineno"> 832</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::GeneratePlacePose>(<span class="stringliteral">"generate place pose"</span>);</div>
+<div class="line"><a name="l00833"></a><span class="lineno"> 833</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"ik_frame"</span> });</div>
+<div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"place_pose"</span>);</div>
+<div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  stage->setObject(<span class="keywordtype">object</span>);</div>
<div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  </div>
-<div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  </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="l00837"></a><span class="lineno"> 837</span>  <span class="comment">// Set target pose</span></div>
+<div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  geometry_msgs::PoseStamped p;</div>
+<div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  p.header.frame_id = <span class="stringliteral">"world"</span>;</div>
+<div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  p.pose.position.x = target.getOrigin().getX();</div>
+<div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  p.pose.position.y = target.getOrigin().getY();</div>
+<div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  p.pose.position.z = target.getOrigin().getZ();</div>
+<div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  p.pose.orientation.x = target.getRotation().getX();</div>
+<div class="line"><a name="l00844"></a><span class="lineno"> 844</span>  p.pose.orientation.y = target.getRotation().getY();</div>
+<div class="line"><a name="l00845"></a><span class="lineno"> 845</span>  p.pose.orientation.z = target.getRotation().getZ();</div>
+<div class="line"><a name="l00846"></a><span class="lineno"> 846</span>  p.pose.orientation.w = target.getRotation().getW();</div>
+<div class="line"><a name="l00847"></a><span class="lineno"> 847</span>  </div>
+<div class="line"><a name="l00848"></a><span class="lineno"> 848</span>  </div>
+<div class="line"><a name="l00849"></a><span class="lineno"> 849</span>  </div>
+<div class="line"><a name="l00850"></a><span class="lineno"> 850</span>  stage->setPose(p);</div>
+<div class="line"><a name="l00851"></a><span class="lineno"> 851</span>  stage->setMonitoredStage(attach_object_stage); <span class="comment">// Hook into attach_object_stage</span></div>
+<div class="line"><a name="l00852"></a><span class="lineno"> 852</span>  </div>
+<div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  <span class="comment">// Compute IK</span></div>
+<div class="line"><a name="l00854"></a><span class="lineno"> 854</span>  Eigen::Quaterniond eigen = Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitX()) *</div>
+<div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  Eigen::AngleAxisd(0.785f, Eigen::Vector3d::UnitY()) *</div>
+<div class="line"><a name="l00856"></a><span class="lineno"> 856</span>  Eigen::AngleAxisd(1.571f, Eigen::Vector3d::UnitZ());</div>
+<div class="line"><a name="l00857"></a><span class="lineno"> 857</span>  Eigen::Translation3d trans(0.1f, 0, 0);</div>
+<div class="line"><a name="l00858"></a><span class="lineno"> 858</span>  Eigen::Isometry3d ik = eigen * trans;</div>
+<div class="line"><a name="l00859"></a><span class="lineno"> 859</span>  <span class="keyword">auto</span> wrapper = std::make_unique<moveit::task_constructor::stages::ComputeIK>(<span class="stringliteral">"place pose IK"</span>, std::move(stage));</div>
+<div class="line"><a name="l00860"></a><span class="lineno"> 860</span>  wrapper->setMaxIKSolutions(2);</div>
+<div class="line"><a name="l00861"></a><span class="lineno"> 861</span>  wrapper->setIKFrame(ik, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00862"></a><span class="lineno"> 862</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"eef"</span>, <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00863"></a><span class="lineno"> 863</span>  wrapper->properties().configureInitFrom(moveit::task_constructor::Stage::INTERFACE, { <span class="stringliteral">"target_pose"</span> });</div>
+<div class="line"><a name="l00864"></a><span class="lineno"> 864</span>  place->insert(std::move(wrapper));</div>
+<div class="line"><a name="l00865"></a><span class="lineno"> 865</span>  }</div>
+<div class="line"><a name="l00866"></a><span class="lineno"> 866</span>  </div>
+<div class="line"><a name="l00867"></a><span class="lineno"> 867</span>  {</div>
+<div class="line"><a name="l00868"></a><span class="lineno"> 868</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"open hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div>
+<div class="line"><a name="l00869"></a><span class="lineno"> 869</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00870"></a><span class="lineno"> 870</span>  stage->setGoal(<span class="stringliteral">"open"</span>);</div>
+<div class="line"><a name="l00871"></a><span class="lineno"> 871</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00872"></a><span class="lineno"> 872</span>  }</div>
+<div class="line"><a name="l00873"></a><span class="lineno"> 873</span>  </div>
+<div class="line"><a name="l00874"></a><span class="lineno"> 874</span>  {</div>
+<div class="line"><a name="l00875"></a><span class="lineno"> 875</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"allow collision (hand,object)"</span>);</div>
+<div class="line"><a name="l00876"></a><span class="lineno"> 876</span>  stage->allowCollisions(</div>
+<div class="line"><a name="l00877"></a><span class="lineno"> 877</span>  <span class="keywordtype">object</span>, task_.getRobotModel()->getJointModelGroup(mr->map()[<span class="stringliteral">"eef_name"</span>])->getLinkModelNamesWithCollisionGeometry(),</div>
+<div class="line"><a name="l00878"></a><span class="lineno"> 878</span>  <span class="keyword">false</span>);</div>
+<div class="line"><a name="l00879"></a><span class="lineno"> 879</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  }</div>
<div class="line"><a name="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="l00882"></a><span class="lineno"> 882</span>  {</div>
+<div class="line"><a name="l00883"></a><span class="lineno"> 883</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::ModifyPlanningScene>(<span class="stringliteral">"detach object"</span>);</div>
+<div class="line"><a name="l00884"></a><span class="lineno"> 884</span>  stage->detachObject(<span class="keywordtype">object</span>, mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00885"></a><span class="lineno"> 885</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00886"></a><span class="lineno"> 886</span>  }</div>
+<div class="line"><a name="l00887"></a><span class="lineno"> 887</span>  </div>
+<div class="line"><a name="l00888"></a><span class="lineno"> 888</span>  {</div>
+<div class="line"><a name="l00889"></a><span class="lineno"> 889</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveRelative>(<span class="stringliteral">"retreat after place"</span>, <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>);</div>
+<div class="line"><a name="l00890"></a><span class="lineno"> 890</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00891"></a><span class="lineno"> 891</span>  stage->setMinMaxDistance(.1, .2);</div>
+<div class="line"><a name="l00892"></a><span class="lineno"> 892</span>  stage->setIKFrame(mr->map()[<span class="stringliteral">"hand_frame"</span>]);</div>
+<div class="line"><a name="l00893"></a><span class="lineno"> 893</span>  stage->properties().set(<span class="stringliteral">"marker_ns"</span>, <span class="stringliteral">"retreat"</span>);</div>
+<div class="line"><a name="l00894"></a><span class="lineno"> 894</span>  geometry_msgs::Vector3Stamped vec;</div>
+<div class="line"><a name="l00895"></a><span class="lineno"> 895</span>  vec.header.frame_id = mr->map()[<span class="stringliteral">"hand_frame"</span>];</div>
+<div class="line"><a name="l00896"></a><span class="lineno"> 896</span>  vec.vector.z = -1.0;</div>
+<div class="line"><a name="l00897"></a><span class="lineno"> 897</span>  stage->setDirection(vec);</div>
+<div class="line"><a name="l00898"></a><span class="lineno"> 898</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00899"></a><span class="lineno"> 899</span>  }</div>
<div class="line"><a name="l00900"></a><span class="lineno"> 900</span>  </div>
-<div class="line"><a name="l00901"></a><span class="lineno"> 901</span>  <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="l00901"></a><span class="lineno"> 901</span>  {</div>
+<div class="line"><a name="l00902"></a><span class="lineno"> 902</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"close hand"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div>
+<div class="line"><a name="l00903"></a><span class="lineno"> 903</span>  stage->setGroup(mr->map()[<span class="stringliteral">"eef_name"</span>]);</div>
+<div class="line"><a name="l00904"></a><span class="lineno"> 904</span>  stage->setGoal(<span class="stringliteral">"close"</span>);</div>
+<div class="line"><a name="l00905"></a><span class="lineno"> 905</span>  place->insert(std::move(stage));</div>
+<div class="line"><a name="l00906"></a><span class="lineno"> 906</span>  }</div>
<div class="line"><a name="l00907"></a><span class="lineno"> 907</span>  </div>
-<div class="line"><a name="l00908"></a><span class="lineno"> 908</span>  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="l00908"></a><span class="lineno"> 908</span>  <span class="comment">// Add place container to task</span></div>
+<div class="line"><a name="l00909"></a><span class="lineno"> 909</span>  task_.add(std::move(place));</div>
+<div class="line"><a name="l00910"></a><span class="lineno"> 910</span>  }</div>
+<div class="line"><a name="l00911"></a><span class="lineno"> 911</span>  </div>
+<div class="line"><a name="l00912"></a><span class="lineno"> 912</span>  {</div>
+<div class="line"><a name="l00913"></a><span class="lineno"> 913</span>  <span class="keyword">auto</span> stage = std::make_unique<moveit::task_constructor::stages::MoveTo>(<span class="stringliteral">"move home"</span>, <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>);</div>
+<div class="line"><a name="l00914"></a><span class="lineno"> 914</span>  stage->properties().configureInitFrom(moveit::task_constructor::Stage::PARENT, { <span class="stringliteral">"group"</span> });</div>
+<div class="line"><a name="l00915"></a><span class="lineno"> 915</span>  stage->setGoal(<span class="stringliteral">"ready"</span>);</div>
+<div class="line"><a name="l00916"></a><span class="lineno"> 916</span>  stage->restrictDirection(moveit::task_constructor::stages::MoveTo::FORWARD);</div>
+<div class="line"><a name="l00917"></a><span class="lineno"> 917</span>  task_.add(std::move(stage));</div>
+<div class="line"><a name="l00918"></a><span class="lineno"> 918</span>  }</div>
<div class="line"><a name="l00919"></a><span class="lineno"> 919</span>  </div>
-<div class="line"><a name="l00920"></a><span class="lineno"> 920</span>  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="l00920"></a><span class="lineno"> 920</span>  <span class="keywordflow">return</span> task_;</div>
+<div class="line"><a name="l00921"></a><span class="lineno"> 921</span> }</div>
+<div class="line"><a name="l00922"></a><span class="lineno"> 922</span>  </div>
<div class="line"><a name="l00923"></a><span class="lineno"> 923</span>  </div>
-<div class="line"><a name="l00924"></a><span class="lineno"> 924</span>  { <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 class="line"><a name="l00924"></a><span class="lineno"> 924</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="aclassMoveitMediator_html_aec492f16ca476ed4b1ce8770ba19219c"><div class="ttname"><a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00068">moveit_mediator.cpp:68</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a45e4b2f48c3c243d72615e81038c2885"><div class="ttname"><a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator::rs_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > rs_</div><div class="ttdoc">shared robot state between all robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00073">moveit_mediator.h:73</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a937ab6d84f60f683accc39f2bc914d29"><div class="ttname"><a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdoc">shared allowed collision matrix between robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00072">moveit_mediator.h:72</a></div></div>
+<div class="ttc" id="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html_af0c39df122cc6a567624184b893c3b64"><div class="ttname"><a href="classCetiRobot.html#af0c39df122cc6a567624184b893c3b64">CetiRobot::setObserverMask</a></div><div class="ttdeci">void setObserverMask(int i)</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00083">ceti_robot.h:83</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a33ae7dc9e2d38c809d59bfa0d7bbe421"><div class="ttname"><a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a></div><div class="ttdeci">void mergeACM(moveit_msgs::PlanningScene &in)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00563">moveit_mediator.cpp:563</a></div></div>
+<div class="ttc" id="aclassMoveitPanel_html"><div class="ttname"><a href="classMoveitPanel.html">MoveitPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8h_source.html#l00013">moveit_panel.h:13</a></div></div>
+<div class="ttc" id="aabstract__robot_8h_html_a6772e3f5ff2cf1ed8a24b23c0992dad1"><div class="ttname"><a href="abstract__robot_8h.html#a6772e3f5ff2cf1ed8a24b23c0992dad1">wing_config</a></div><div class="ttdeci">wing_config</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot_8h_source.html#l00010">abstract_robot.h:10</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a6b5a8e24b7c3fa6bc6784dc63ed43995"><div class="ttname"><a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > executions_</div><div class="ttdoc">Shared execution map containing groot node information.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00075">moveit_mediator.h:75</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a79e0223629cc5c5d50aa5f721160dee1"><div class="ttname"><a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< JobReader > job_reader_</div><div class="ttdoc">jobReader instancde which reads task information</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00070">moveit_mediator.h:70</a></div></div>
+<div class="ttc" id="aclassExecution_html"><div class="ttname"><a href="classExecution.html">Execution</a></div><div class="ttdoc">Execution node as StatefulActionNode.</div><div class="ttdef"><b>Definition:</b> <a href="execution_8h_source.html#l00023">execution.h:23</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a9b16784a81023bf4e258acf1618edd95"><div class="ttname"><a href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</div><div class="ttdoc">Planningscene monitor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00066">moveit_mediator.h:66</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a3bd2f6ff7906c23b0503449d3863b854"><div class="ttname"><a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a></div><div class="ttdeci">void taskPlanner()</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00292">moveit_mediator.cpp:292</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a9b2bee0946f0635db6ae08150b496792"><div class="ttname"><a href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator::MoveitMediator</a></div><div class="ttdeci">MoveitMediator(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00012">moveit_mediator.cpp:12</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a7eb1074e90af32a2c2fa496b58a1f751"><div class="ttname"><a href="classAbstractRobotDecorator.html#a7eb1074e90af32a2c2fa496b58a1f751">AbstractRobotDecorator::pattern</a></div><div class="ttdeci">std::string & pattern()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00082">abstract_robot_decorator.h:82</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_af90b3b692b2edfbb68bba2412e54a907"><div class="ttname"><a href="classAbstractMediator.html#af90b3b692b2edfbb68bba2412e54a907">AbstractMediator::wing_reader_</a></div><div class="ttdeci">std::unique_ptr< WingReader > wing_reader_</div><div class="ttdoc">Wing_reader which collects panel information of robots.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00052">abstract_mediator.h:52</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a1107411a95846d672c2ba800034f91a2"><div class="ttname"><a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</div><div class="ttdoc">Shared Planning Scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00064">moveit_mediator.h:64</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassCetiRobot_html"><div class="ttname"><a href="classCetiRobot.html">CetiRobot</a></div><div class="ttdoc">Concrete Ceti-Robot.</div><div class="ttdef"><b>Definition:</b> <a href="ceti__robot_8h_source.html#l00014">ceti_robot.h:14</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_aaad3539de5c9b389bbde424a94337ee4"><div class="ttname"><a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</div><div class="ttdoc">Moveit task Constructior cartesian planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00068">moveit_mediator.h:68</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a4cd7c33c1a5a66b55131094fb725e4e6"><div class="ttname"><a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a></div><div class="ttdeci">void parallelExec(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00628">moveit_mediator.cpp:628</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html"><div class="ttname"><a href="classParallel__robot.html">Parallel_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00009">parallel_robot.h:9</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a10558d2bb61a012a1495de7f4fb12008"><div class="ttname"><a href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00071">moveit_mediator.h:71</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a60724698c5c21f37810f193791aa26c0"><div class="ttname"><a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a></div><div class="ttdeci">void manipulateACM(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</div><div class="ttdoc">Manipulate ACM by extracting inforamtion of spicified robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00131">moveit_mediator.cpp:131</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html_a48ef097d13df349180784869d3210938"><div class="ttname"><a href="classAbstractMediator.html#a48ef097d13df349180784869d3210938">AbstractMediator::robots_</a></div><div class="ttdeci">std::map< std::string, std::unique_ptr< AbstractRobotDecorator > > robots_</div><div class="ttdoc">Robots agents.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00045">abstract_mediator.h:45</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_aa6ac3b0845c32dde50a90655ec0a6c97"><div class="ttname"><a href="classAbstractRobotDecorator.html#aa6ac3b0845c32dde50a90655ec0a6c97">AbstractRobotDecorator::name</a></div><div class="ttdeci">std::string & name() override</div><div class="ttdoc">Redirects name call to next_.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00047">abstract_robot_decorator.h:47</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a38e44c6e4bbe9f4e20215baa96b5cc03"><div class="ttname"><a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</div><div class="ttdoc">Publisher to manage PlanningScene diffs.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00065">moveit_mediator.h:65</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html"><div class="ttname"><a href="classPositionCondition.html">PositionCondition</a></div><div class="ttdoc">PositionCondition Node.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00021">position_condition.h:21</a></div></div>
+<div class="ttc" id="aclassCuboidReader_html"><div class="ttname"><a href="classCuboidReader.html">CuboidReader</a></div><div class="ttdoc">Cuboid reader.</div><div class="ttdef"><b>Definition:</b> <a href="cuboid__reader_8h_source.html#l00017">cuboid_reader.h:17</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_afe44b1b1711fa9a0ed97b7237f7cb6d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#afe44b1b1711fa9a0ed97b7237f7cb6d5">AbstractRobotDecorator::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00087">abstract_robot_decorator.h:87</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a45344034f504d548cb373fad34f5fada"><div class="ttname"><a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">connect robot and initialize Moveit components</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00047">moveit_mediator.cpp:47</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a74366e69063d71d7b4ebc6219724564f"><div class="ttname"><a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</div><div class="ttdoc">PlanningSceneInteface to manage Scene Objects.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00063">moveit_mediator.h:63</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_ac960a22e328d1fc71532019a3766bc22"><div class="ttname"><a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</div><div class="ttdoc">Moveit task Constructior simple planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00067">moveit_mediator.h:67</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a5cc07592a3bdaac2e60faa94bf3ef517"><div class="ttname"><a href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">MoveitMediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdoc">Moveit Robot-Model as specified in SDF.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00060">moveit_mediator.h:60</a></div></div>
<div class="ttc" id="amoveit__mediator_8h_html"><div class="ttname"><a href="moveit__mediator_8h.html">moveit_mediator.h</a></div></div>
-<div class="ttc" id="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>
+<div class="ttc" id="aclassMoveitMediator_html_a718c6e366b14a90455c24b4556988a5d"><div class="ttname"><a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a></div><div class="ttdeci">moveit::task_constructor::Task createTask(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdoc">Create Task with Moveit Task Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00632">moveit_mediator.cpp:632</a></div></div>
+<div class="ttc" id="aclassJobReader_html"><div class="ttname"><a href="classJobReader.html">JobReader</a></div><div class="ttdoc">Job reader.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00016">job_reader.h:16</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a2b7e11a58f4efddd642c82d250620bb7"><div class="ttname"><a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a></div><div class="ttdeci">void mergePS(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</div><div class="ttdoc">Merge Planning scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00588">moveit_mediator.cpp:588</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a2737afa6ea3e13c6a5d94eadeaff703d"><div class="ttname"><a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a></div><div class="ttdeci">void publishTables()</div><div class="ttdoc">publish all panels in the planning scene</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00105">moveit_mediator.cpp:105</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_af2e9bb37a7e5cc9dfa6f95730c1d3867"><div class="ttname"><a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">mediator function</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00122">moveit_mediator.cpp:122</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/moveit__mediator_8h.html b/doc/html/moveit__mediator_8h.html
index e0e249348ccee5f4304b615aa8af0e980bc8488d..0f45ffe940072652399e492a5d1afa30f06e46bf 100644
--- a/doc/html/moveit__mediator_8h.html
+++ b/doc/html/moveit__mediator_8h.html
@@ -17,7 +17,7 @@ $(function() {
<div id="main-nav"></div>
<div id="nav-path" class="navpath">
<ul>
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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">
@@ -35,12 +35,6 @@ $(function() {
<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 />
@@ -65,64 +59,75 @@ $(function() {
<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 <behaviortree_cpp_v3/behavior_tree.h></code><br />
+<code>#include <behaviortree_cpp_v3/tree_node.h></code><br />
+<code>#include <behaviortree_cpp_v3/bt_factory.h></code><br />
+<code>#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h></code><br />
+<code>#include <stdint.h></code><br />
+<code>#include "<a class="el" href="moveit__panel_8h_source.html">robot_element/observers/moveit_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="abstract__robot__decorator_8h_source.html">robot/decorators/abstract_robot_decorator.h</a>"</code><br />
<code>#include "<a class="el" href="job__reader_8h_source.html">reader/job_reader.h</a>"</code><br />
<code>#include "<a class="el" href="cuboid__reader_8h_source.html">reader/cuboid_reader.h</a>"</code><br />
-<code>#include <stdint.h></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="execution_8h_source.html">bt/execution.h</a>"</code><br />
+<code>#include "<a class="el" href="position__condition_8h_source.html">bt/position_condition.h</a>"</code><br />
+<code>#include "<a class="el" href="parallel__robot_8h_source.html">bt/parallel_robot.h</a>"</code><br />
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@@ -130,12 +135,9 @@ This graph shows which files directly or indirectly include this file:</div>
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@@ -143,7 +145,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitMediator.html">MoveitMediator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Refined <a class="el" href="classMoveitMediator.html" title="Refined MoveitMediator.">MoveitMediator</a>. <a href="classMoveitMediator.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
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@@ -152,7 +155,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
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--- a/doc/html/moveit__mediator_8h__incl.md5
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diff --git a/doc/html/moveit__mediator_8h__incl.png b/doc/html/moveit__mediator_8h__incl.png
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diff --git a/doc/html/moveit__mediator_8h_source.html b/doc/html/moveit__mediator_8h_source.html
index 4c82abd2a5e016b85f3a808bbc44d350b7f2dc31..0d46129b6d42510c8471b553f48c57b22c8cf8a8 100644
--- a/doc/html/moveit__mediator_8h_source.html
+++ b/doc/html/moveit__mediator_8h_source.html
@@ -17,7 +17,7 @@ $(function() {
<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>
+<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">
@@ -29,165 +29,171 @@ $(function() {
<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="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <moveit/robot_model_loader/robot_model_loader.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <moveit/kinematic_constraints/utils.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <moveit_visual_tools/moveit_visual_tools.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <moveit/task_constructor/task.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <moveit/task_constructor/stages/compute_ik.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <moveit/task_constructor/stages/connect.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <moveit/task_constructor/stages/current_state.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <moveit/task_constructor/stages/generate_grasp_pose.h></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <moveit/task_constructor/stages/generate_place_pose.h></span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <moveit/task_constructor/stages/generate_pose.h></span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <moveit/task_constructor/stages/modify_planning_scene.h></span></div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <moveit/task_constructor/stages/move_relative.h></span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <moveit/task_constructor/stages/move_to.h></span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <moveit/task_constructor/stages/predicate_filter.h></span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/cartesian_path.h></span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/pipeline_planner.h></span></div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h></span></div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <moveit/task_constructor/properties.h></span></div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/joint_interpolation.h></span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <moveit/task_constructor/solvers/planner_interface.h></span></div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include <moveit/task_constructor/stage.h></span></div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include <moveit/task_constructor/stages/fixed_state.h></span></div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#include <eigen_conversions/eigen_msg.h></span></div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h></span></div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include <moveit/planning_scene_monitor/current_state_monitor.h></span></div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include <moveit/planning_scene_monitor/planning_scene_monitor.h></span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include <moveit/moveit_cpp/moveit_cpp.h></span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include <behaviortree_cpp_v3/behavior_tree.h></span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include <behaviortree_cpp_v3/tree_node.h></span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <behaviortree_cpp_v3/bt_factory.h></span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include <behaviortree_cpp_v3/loggers/bt_zmq_publisher.h></span></div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <stdint.h></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> <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="l00043"></a><span class="lineno"> 43</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="l00044"></a><span class="lineno"> 44</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="l00045"></a><span class="lineno"> 45</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="l00046"></a><span class="lineno"> 46</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="l00047"></a><span class="lineno"> 47</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="l00048"></a><span class="lineno"> 48</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="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include "<a class="code" href="execution_8h.html">bt/execution.h</a>"</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include "<a class="code" href="position__condition_8h.html">bt/position_condition.h</a>"</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include "<a class="code" href="parallel__robot_8h.html">bt/parallel_robot.h</a>"</span></div>
<div class="line"><a name="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="l00055"></a><span class="lineno"> 55</span>  </div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classMoveitMediator.html"> 58</a></span> <span class="keyword">class </span><a class="code" href="classMoveitMediator.html">MoveitMediator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractMediator.html">AbstractMediator</a>{</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517"> 60</a></span>  std::shared_ptr<moveit::core::RobotModel> <a class="code" href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">robot_model_</a>; </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61"> 61</a></span>  std::shared_ptr<moveit_visual_tools::MoveItVisualTools> <a class="code" href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">visual_tools_</a>; </div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26"> 62</a></span>  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a>; </div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f"> 63</a></span>  std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> <a class="code" href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">psi_</a>; </div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2"> 64</a></span>  std::shared_ptr<planning_scene::PlanningScene> <a class="code" href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">ps_</a>; </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03"> 65</a></span>  std::shared_ptr<ros::Publisher> <a class="code" href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">planning_scene_diff_publisher_</a>; </div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95"> 66</a></span>  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> <a class="code" href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">planning_scene_monitor_</a>; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22"> 67</a></span>  std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> <a class="code" href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">sampling_planner_</a>; </div>
+<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4"> 68</a></span>  std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> <a class="code" href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">cartesian_planner_</a>; </div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0"> 69</a></span>  std::map<std::string, std::vector<moveit::task_constructor::Task>> <a class="code" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a>; </div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1"> 70</a></span>  std::unique_ptr<JobReader> <a class="code" href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">job_reader_</a>; </div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008"> 71</a></span>  std::unique_ptr<CuboidReader> <a class="code" href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">cuboid_reader_</a>; </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29"> 72</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">acm_</a>; </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885"> 73</a></span>  std::map<std::string, std::vector<uint8_t>> <a class="code" href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">rs_</a>; </div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7"> 74</a></span>  std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> <a class="code" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a>; </div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995"> 75</a></span>  std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>> <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>; </div>
+<div class="line"><a name="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>  </div>
-<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
-<div class="line"><a name="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="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& nh);</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7"> 88</a></span>  <span class="keyword">inline</span> std::shared_ptr<moveit::planning_interface::MoveGroupInterface> <a class="code" href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">mgi</a>() {<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">mgi_</a>;};</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
-<div class="line"><a name="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="l00091"></a><span class="lineno"> 91</span>  </div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">mediate</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
-<div class="line"><a name="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="l00097"></a><span class="lineno"> 97</span>  </div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">connectRobots</a>(std::unique_ptr<AbstractRobotDecorator> robot) <span class="keyword">override</span>; </div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">mergePS</a>(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
-<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">parallelExec</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a> & mr, moveit_msgs::RobotTrajectory rt);</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">mergeACM</a>(moveit_msgs::PlanningScene& in);</div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">taskPlanner</a>();</div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">publishTables</a>();</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">manipulateACM</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* mr, moveit_msgs::PlanningScene& ps);</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  moveit::task_constructor::Task <a class="code" href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">createTask</a>(<a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);</div>
+<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57"> 148</a></span>  <span class="keyword">inline</span> std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>& <a class="code" href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">executions</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">executions_</a>;};</div>
+<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44"> 149</a></span>  <span class="keyword">inline</span> std::map<std::string, std::vector<moveit::task_constructor::Task>>& <a class="code" href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">taskMap</a>(){<span class="keywordflow">return</span> <a class="code" href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">task_map_</a>;};</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
+<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92"> 151</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">setTasks</a>(std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>& tasks) {<a class="code" href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">tasks_</a> = tasks;};</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">void</span> <a class="code" href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">setPanel</a>() <span class="keyword">override</span>;</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> };</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="preprocessor">#endif</span></div>
</div><!-- 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="aclassMoveitMediator_html_aec492f16ca476ed4b1ce8770ba19219c"><div class="ttname"><a href="classMoveitMediator.html#aec492f16ca476ed4b1ce8770ba19219c">MoveitMediator::setPanel</a></div><div class="ttdeci">void setPanel() override</div><div class="ttdoc">Sets panels for robots.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00068">moveit_mediator.cpp:68</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a45e4b2f48c3c243d72615e81038c2885"><div class="ttname"><a href="classMoveitMediator.html#a45e4b2f48c3c243d72615e81038c2885">MoveitMediator::rs_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > rs_</div><div class="ttdoc">shared robot state between all robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00073">moveit_mediator.h:73</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a937ab6d84f60f683accc39f2bc914d29"><div class="ttname"><a href="classMoveitMediator.html#a937ab6d84f60f683accc39f2bc914d29">MoveitMediator::acm_</a></div><div class="ttdeci">std::map< std::string, std::vector< uint8_t > > acm_</div><div class="ttdoc">shared allowed collision matrix between robots</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00072">moveit_mediator.h:72</a></div></div>
<div class="ttc" id="acuboid__reader_8h_html"><div class="ttname"><a href="cuboid__reader_8h.html">cuboid_reader.h</a></div></div>
+<div class="ttc" id="aparallel__robot_8h_html"><div class="ttname"><a href="parallel__robot_8h.html">parallel_robot.h</a></div></div>
<div class="ttc" id="ajob__reader_8h_html"><div class="ttname"><a href="job__reader_8h.html">job_reader.h</a></div></div>
-<div class="ttc" id="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>
+<div class="ttc" id="aclassMoveitMediator_html_a41cd26abc56422280688eae7ca021a44"><div class="ttname"><a href="classMoveitMediator.html#a41cd26abc56422280688eae7ca021a44">MoveitMediator::taskMap</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > & taskMap()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00149">moveit_mediator.h:149</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a33ae7dc9e2d38c809d59bfa0d7bbe421"><div class="ttname"><a href="classMoveitMediator.html#a33ae7dc9e2d38c809d59bfa0d7bbe421">MoveitMediator::mergeACM</a></div><div class="ttdeci">void mergeACM(moveit_msgs::PlanningScene &in)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00563">moveit_mediator.cpp:563</a></div></div>
+<div class="ttc" id="alog__decorator_8h_html"><div class="ttname"><a href="log__decorator_8h.html">log_decorator.h</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html"><div class="ttname"><a href="classMoveitMediator.html">MoveitMediator</a></div><div class="ttdoc">Refined MoveitMediator.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00058">moveit_mediator.h:58</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_aaf5860e324b447ccaf93e614421bad26"><div class="ttname"><a href="classMoveitMediator.html#aaf5860e324b447ccaf93e614421bad26">MoveitMediator::mgi_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_</div><div class="ttdoc">Move Group Interface of the whole multi-cell.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00062">moveit_mediator.h:62</a></div></div>
+<div class="ttc" id="aabstract__robot__decorator_8h_html"><div class="ttname"><a href="abstract__robot__decorator_8h.html">abstract_robot_decorator.h</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a6b5a8e24b7c3fa6bc6784dc63ed43995"><div class="ttname"><a href="classMoveitMediator.html#a6b5a8e24b7c3fa6bc6784dc63ed43995">MoveitMediator::executions_</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > executions_</div><div class="ttdoc">Shared execution map containing groot node information.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00075">moveit_mediator.h:75</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a79e0223629cc5c5d50aa5f721160dee1"><div class="ttname"><a href="classMoveitMediator.html#a79e0223629cc5c5d50aa5f721160dee1">MoveitMediator::job_reader_</a></div><div class="ttdeci">std::unique_ptr< JobReader > job_reader_</div><div class="ttdoc">jobReader instancde which reads task information</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00070">moveit_mediator.h:70</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a9b16784a81023bf4e258acf1618edd95"><div class="ttname"><a href="classMoveitMediator.html#a9b16784a81023bf4e258acf1618edd95">MoveitMediator::planning_scene_monitor_</a></div><div class="ttdeci">std::shared_ptr< planning_scene_monitor::PlanningSceneMonitor > planning_scene_monitor_</div><div class="ttdoc">Planningscene monitor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00066">moveit_mediator.h:66</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a3bd2f6ff7906c23b0503449d3863b854"><div class="ttname"><a href="classMoveitMediator.html#a3bd2f6ff7906c23b0503449d3863b854">MoveitMediator::taskPlanner</a></div><div class="ttdeci">void taskPlanner()</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00292">moveit_mediator.cpp:292</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_acd39aee6c6a3d55f5492d5ec07bd0da0"><div class="ttname"><a href="classMoveitMediator.html#acd39aee6c6a3d55f5492d5ec07bd0da0">MoveitMediator::task_map_</a></div><div class="ttdeci">std::map< std::string, std::vector< moveit::task_constructor::Task > > task_map_</div><div class="ttdoc">Tasks mapped to Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00069">moveit_mediator.h:69</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a9b2bee0946f0635db6ae08150b496792"><div class="ttname"><a href="classMoveitMediator.html#a9b2bee0946f0635db6ae08150b496792">MoveitMediator::MoveitMediator</a></div><div class="ttdeci">MoveitMediator(std::shared_ptr< ros::NodeHandle > const &nh)</div><div class="ttdoc">AbstractMediator constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00012">moveit_mediator.cpp:12</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a390303f3a11baeac837f150463f8cec7"><div class="ttname"><a href="classMoveitMediator.html#a390303f3a11baeac837f150463f8cec7">MoveitMediator::tasks_</a></div><div class="ttdeci">std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal > > > tasks_</div><div class="ttdoc">tasks multimap</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00074">moveit_mediator.h:74</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a1107411a95846d672c2ba800034f91a2"><div class="ttname"><a href="classMoveitMediator.html#a1107411a95846d672c2ba800034f91a2">MoveitMediator::ps_</a></div><div class="ttdeci">std::shared_ptr< planning_scene::PlanningScene > ps_</div><div class="ttdoc">Shared Planning Scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00064">moveit_mediator.h:64</a></div></div>
+<div class="ttc" id="aclassAbstractMediator_html"><div class="ttname"><a href="classAbstractMediator.html">AbstractMediator</a></div><div class="ttdoc">AbstractMediator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__mediator_8h_source.html#l00041">abstract_mediator.h:41</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_aaad3539de5c9b389bbde424a94337ee4"><div class="ttname"><a href="classMoveitMediator.html#aaad3539de5c9b389bbde424a94337ee4">MoveitMediator::cartesian_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::CartesianPath > cartesian_planner_</div><div class="ttdoc">Moveit task Constructior cartesian planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00068">moveit_mediator.h:68</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a4cd7c33c1a5a66b55131094fb725e4e6"><div class="ttname"><a href="classMoveitMediator.html#a4cd7c33c1a5a66b55131094fb725e4e6">MoveitMediator::parallelExec</a></div><div class="ttdeci">void parallelExec(AbstractRobotDecorator &mr, moveit_msgs::RobotTrajectory rt)</div><div class="ttdoc">Threaded function which calls executaion on a Robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00628">moveit_mediator.cpp:628</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a10558d2bb61a012a1495de7f4fb12008"><div class="ttname"><a href="classMoveitMediator.html#a10558d2bb61a012a1495de7f4fb12008">MoveitMediator::cuboid_reader_</a></div><div class="ttdeci">std::unique_ptr< CuboidReader > cuboid_reader_</div><div class="ttdoc">coboidReader instance that distinguishes between scene objects of type bin and box</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00071">moveit_mediator.h:71</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a60724698c5c21f37810f193791aa26c0"><div class="ttname"><a href="classMoveitMediator.html#a60724698c5c21f37810f193791aa26c0">MoveitMediator::manipulateACM</a></div><div class="ttdeci">void manipulateACM(AbstractRobotDecorator *mr, moveit_msgs::PlanningScene &ps)</div><div class="ttdoc">Manipulate ACM by extracting inforamtion of spicified robot.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00131">moveit_mediator.cpp:131</a></div></div>
+<div class="ttc" id="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_afff0b1c9ff2c44d6183cee51656a3a57"><div class="ttname"><a href="classMoveitMediator.html#afff0b1c9ff2c44d6183cee51656a3a57">MoveitMediator::executions</a></div><div class="ttdeci">std::map< std::string, std::pair< moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene > > & executions()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00148">moveit_mediator.h:148</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a38e44c6e4bbe9f4e20215baa96b5cc03"><div class="ttname"><a href="classMoveitMediator.html#a38e44c6e4bbe9f4e20215baa96b5cc03">MoveitMediator::planning_scene_diff_publisher_</a></div><div class="ttdeci">std::shared_ptr< ros::Publisher > planning_scene_diff_publisher_</div><div class="ttdoc">Publisher to manage PlanningScene diffs.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00065">moveit_mediator.h:65</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a0a426873a61e05fdb5132494e8f5ac92"><div class="ttname"><a href="classMoveitMediator.html#a0a426873a61e05fdb5132494e8f5ac92">MoveitMediator::setTasks</a></div><div class="ttdeci">void setTasks(std::multimap< std::string, std::pair< tf2::Vector3, std::queue< moveit_task_constructor_msgs::ExecuteTaskSolutionGoal >>> &tasks)</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00151">moveit_mediator.h:151</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a45344034f504d548cb373fad34f5fada"><div class="ttname"><a href="classMoveitMediator.html#a45344034f504d548cb373fad34f5fada">MoveitMediator::connectRobots</a></div><div class="ttdeci">void connectRobots(std::unique_ptr< AbstractRobotDecorator > robot) override</div><div class="ttdoc">connect robot and initialize Moveit components</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00047">moveit_mediator.cpp:47</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a74366e69063d71d7b4ebc6219724564f"><div class="ttname"><a href="classMoveitMediator.html#a74366e69063d71d7b4ebc6219724564f">MoveitMediator::psi_</a></div><div class="ttdeci">std::unique_ptr< moveit::planning_interface::PlanningSceneInterface > psi_</div><div class="ttdoc">PlanningSceneInteface to manage Scene Objects.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00063">moveit_mediator.h:63</a></div></div>
+<div class="ttc" id="aposition__condition_8h_html"><div class="ttname"><a href="position__condition_8h.html">position_condition.h</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a4ba2eb6738772bacbfa0dc9dbff5ed61"><div class="ttname"><a href="classMoveitMediator.html#a4ba2eb6738772bacbfa0dc9dbff5ed61">MoveitMediator::visual_tools_</a></div><div class="ttdeci">std::shared_ptr< moveit_visual_tools::MoveItVisualTools > visual_tools_</div><div class="ttdoc">MoveItVisualTools.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00061">moveit_mediator.h:61</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_ac960a22e328d1fc71532019a3766bc22"><div class="ttname"><a href="classMoveitMediator.html#ac960a22e328d1fc71532019a3766bc22">MoveitMediator::sampling_planner_</a></div><div class="ttdeci">std::shared_ptr< moveit::task_constructor::solvers::PipelinePlanner > sampling_planner_</div><div class="ttdoc">Moveit task Constructior simple planner.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00067">moveit_mediator.h:67</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a5cc07592a3bdaac2e60faa94bf3ef517"><div class="ttname"><a href="classMoveitMediator.html#a5cc07592a3bdaac2e60faa94bf3ef517">MoveitMediator::robot_model_</a></div><div class="ttdeci">std::shared_ptr< moveit::core::RobotModel > robot_model_</div><div class="ttdoc">Moveit Robot-Model as specified in SDF.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00060">moveit_mediator.h:60</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a718c6e366b14a90455c24b4556988a5d"><div class="ttname"><a href="classMoveitMediator.html#a718c6e366b14a90455c24b4556988a5d">MoveitMediator::createTask</a></div><div class="ttdeci">moveit::task_constructor::Task createTask(AbstractRobotDecorator *r, moveit_msgs::CollisionObject &source, tf2::Transform &target)</div><div class="ttdoc">Create Task with Moveit Task Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00632">moveit_mediator.cpp:632</a></div></div>
+<div class="ttc" id="aexecution_8h_html"><div class="ttname"><a href="execution_8h.html">execution.h</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a2b7e11a58f4efddd642c82d250620bb7"><div class="ttname"><a href="classMoveitMediator.html#a2b7e11a58f4efddd642c82d250620bb7">MoveitMediator::mergePS</a></div><div class="ttdeci">void mergePS(moveit_msgs::PlanningScene &out, moveit_msgs::PlanningScene in, AbstractRobotDecorator *mr)</div><div class="ttdoc">Merge Planning scene.</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00588">moveit_mediator.cpp:588</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_aa8edee17b0761961d4aa04e933d17af7"><div class="ttname"><a href="classMoveitMediator.html#aa8edee17b0761961d4aa04e933d17af7">MoveitMediator::mgi</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi()</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8h_source.html#l00088">moveit_mediator.h:88</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_a2737afa6ea3e13c6a5d94eadeaff703d"><div class="ttname"><a href="classMoveitMediator.html#a2737afa6ea3e13c6a5d94eadeaff703d">MoveitMediator::publishTables</a></div><div class="ttdeci">void publishTables()</div><div class="ttdoc">publish all panels in the planning scene</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00105">moveit_mediator.cpp:105</a></div></div>
+<div class="ttc" id="amoveit__panel_8h_html"><div class="ttname"><a href="moveit__panel_8h.html">moveit_panel.h</a></div></div>
+<div class="ttc" id="aclassMoveitMediator_html_af2e9bb37a7e5cc9dfa6f95730c1d3867"><div class="ttname"><a href="classMoveitMediator.html#af2e9bb37a7e5cc9dfa6f95730c1d3867">MoveitMediator::mediate</a></div><div class="ttdeci">void mediate() override</div><div class="ttdoc">mediator function</div><div class="ttdef"><b>Definition:</b> <a href="moveit__mediator_8cpp_source.html#l00122">moveit_mediator.cpp:122</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/moveit__panel_8cpp.html b/doc/html/moveit__panel_8cpp.html
index 5b460d93e0cf4dc9eeab218abee20f371ef4b363..9e3c91ddb2f860b5d2a533594bae185700e819d2 100644
--- a/doc/html/moveit__panel_8cpp.html
+++ b/doc/html/moveit__panel_8cpp.html
@@ -34,7 +34,7 @@ Include dependency graph for moveit_panel.cpp:</div>
<area shape="rect" title=" " alt="" coords="323,5,462,32"/>
<area shape="rect" href="moveit__panel_8h.html" title=" " alt="" coords="300,80,485,121"/>
<area shape="rect" title=" " alt="" coords="40,363,118,389"/>
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+<area shape="rect" href="abstract__robot__element_8h.html" title=" " alt="" coords="145,273,320,315"/>
<area shape="rect" href="panel_8h.html" title=" " alt="" coords="36,177,221,218"/>
<area shape="rect" title=" " alt="" coords="296,169,488,225"/>
<area shape="rect" title=" " alt="" coords="512,177,731,218"/>
@@ -51,7 +51,7 @@ Include dependency graph for moveit_panel.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/moveit__panel_8cpp__incl.map b/doc/html/moveit__panel_8cpp__incl.map
index cb1dd823a1815c61a1c364f3e0b2195f78ac7e87..071ff3ee1cbdc5c7dde273d2b6f7b53579bf239a 100644
--- a/doc/html/moveit__panel_8cpp__incl.map
+++ b/doc/html/moveit__panel_8cpp__incl.map
@@ -2,7 +2,7 @@
<area shape="rect" id="node1" title=" " alt="" coords="323,5,462,32"/>
<area shape="rect" id="node2" href="$moveit__panel_8h.html" title=" " alt="" coords="300,80,485,121"/>
<area shape="rect" id="node3" title=" " alt="" coords="40,363,118,389"/>
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<area shape="rect" id="node6" href="$panel_8h.html" title=" " alt="" coords="36,177,221,218"/>
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diff --git a/doc/html/moveit__panel_8cpp__incl.md5 b/doc/html/moveit__panel_8cpp__incl.md5
index 4843dad08bc79f28c133929656d9fe6d9cb622c8..f28c10705d89e07450aa10f0b12bd1fee3c7b077 100644
--- a/doc/html/moveit__panel_8cpp__incl.md5
+++ b/doc/html/moveit__panel_8cpp__incl.md5
@@ -1 +1 @@
-7a73a85bd598d1e08770d5b01ea144c6
\ No newline at end of file
+a318829cae4637d1690acd16dfa087ef
\ No newline at end of file
diff --git a/doc/html/moveit__panel_8cpp_source.html b/doc/html/moveit__panel_8cpp_source.html
index c3bc7ec2bc6f265932f3db76d504abfe9bea62aa..f1fd0d20b16be1fbbb9e8c56bc8398e4916575e3 100644
--- a/doc/html/moveit__panel_8cpp_source.html
+++ b/doc/html/moveit__panel_8cpp_source.html
@@ -28,7 +28,7 @@ $(function() {
<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="l00004"></a><span class="lineno"><a class="line" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0"> 4</a></span> <a class="code" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel::MoveitPanel</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>
@@ -56,11 +56,11 @@ $(function() {
<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="l00032"></a><span class="lineno"><a class="line" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da"> 32</a></span> <span class="keywordtype">void</span> <a class="code" href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">MoveitPanel::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="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.id = <a class="code" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">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>
@@ -73,41 +73,41 @@ $(function() {
<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="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives.resize(1);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives[0].type = <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives[0].BOX;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives[0].dimensions.resize(3);</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives[0].dimensions[0] = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX();</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives[0].dimensions[1] = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getY();</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitives[0].dimensions[2] = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses.resize(1);</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].position.x = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getOrigin().getX();</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].position.y = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getOrigin().getY();</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].position.z = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getOrigin().getZ() - <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getZ()/2;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].orientation.x = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getX();</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].orientation.y = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getY();</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].orientation.z = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getZ();</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.primitive_poses[0].orientation.w = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">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="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">marker_</a>.operation = <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">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="aclassAbstractRobotElement_html_a48a10e0425bb56cabf0dad275976bb76"><div class="ttname"><a href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">AbstractRobotElement::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00009">abstract_robot_element.h:9</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="aclassAbstractRobotElement_html_a1304c7308731251e789ccfb9368a61f9"><div class="ttname"><a href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">AbstractRobotElement::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00011">abstract_robot_element.h:11</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="aclassMoveitPanel_html_afe1cc4d474fd5762ba3583c075e0a4da"><div class="ttname"><a href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">MoveitPanel::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="aclassMoveitPanel_html_a3d41e6b2b3e2ecc2657f0c7e8ac91682"><div class="ttname"><a href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">MoveitPanel::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="aclassMoveitPanel_html_ac84cab821b106238b797616e3f4c7cb0"><div class="ttname"><a href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel::MoveitPanel</a></div><div class="ttdeci">MoveitPanel(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>
+<div class="ttc" id="aclassAbstractRobotElement_html_ad9e7fd0d535253799855ad42f9ed7a52"><div class="ttname"><a href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00012">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/moveit__panel_8h.html b/doc/html/moveit__panel_8h.html
index f717fa8344f1f9ba85521c317c98df543f91e318..f567fe2f969c66d86fec0e1d9de3ec11eca141ee 100644
--- a/doc/html/moveit__panel_8h.html
+++ b/doc/html/moveit__panel_8h.html
@@ -28,7 +28,7 @@ $(function() {
</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="abstract__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 />
@@ -41,7 +41,7 @@ Include dependency graph for moveit_panel.h:</div>
<map name="moveit__panel_8h" id="moveit__panel_8h">
<area shape="rect" title=" " alt="" coords="331,5,454,32"/>
<area shape="rect" title=" " alt="" coords="40,273,119,300"/>
-<area shape="rect" href="robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="145,184,320,225"/>
+<area shape="rect" href="abstract__robot__element_8h.html" title=" " alt="" coords="145,184,320,225"/>
<area shape="rect" href="panel_8h.html" title=" " alt="" coords="36,87,221,129"/>
<area shape="rect" title=" " alt="" coords="297,80,489,136"/>
<area shape="rect" title=" " alt="" coords="513,87,731,129"/>
@@ -55,8 +55,11 @@ 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"/>
+<area shape="rect" title=" " alt="" coords="173,5,296,32"/>
+<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/>
+<area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="249,80,388,107"/>
+<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/>
+<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/>
</map>
</div>
</div>
@@ -64,7 +67,7 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classMoveitPanel.html">MoveitPanel</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -73,7 +76,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/moveit__panel_8h__dep__incl.map b/doc/html/moveit__panel_8h__dep__incl.map
index 973222bfef2a5f3c7a7aa561d8b3a9042ec7696e..b6cb2ca514b8588b54e383162b6512e536f86cb9 100644
--- a/doc/html/moveit__panel_8h__dep__incl.map
+++ b/doc/html/moveit__panel_8h__dep__incl.map
@@ -1,4 +1,7 @@
<map id="moveit_panel.h" name="moveit_panel.h">
-<area shape="rect" id="node1" title=" " alt="" coords="13,5,136,32"/>
-<area shape="rect" id="node2" href="$moveit__panel_8cpp.html" title=" " alt="" coords="5,80,144,107"/>
+<area shape="rect" id="node1" title=" " alt="" coords="173,5,296,32"/>
+<area shape="rect" id="node2" href="$moveit__mediator_8h.html" title=" " alt="" coords="79,80,225,107"/>
+<area shape="rect" id="node5" href="$moveit__panel_8cpp.html" title=" " alt="" coords="249,80,388,107"/>
+<area shape="rect" id="node3" href="$cell__routine_8cpp.html" title=" " alt="" coords="5,155,131,181"/>
+<area shape="rect" id="node4" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="155,155,317,181"/>
</map>
diff --git a/doc/html/moveit__panel_8h__dep__incl.md5 b/doc/html/moveit__panel_8h__dep__incl.md5
index 4767448fb8bf7dbe189f246b91c497b57c7bd468..ca47d5f902b60e3b5e4e7344b3da5f343fab5e7c 100644
--- a/doc/html/moveit__panel_8h__dep__incl.md5
+++ b/doc/html/moveit__panel_8h__dep__incl.md5
@@ -1 +1 @@
-956479740ad72313395435724cdd22e0
\ No newline at end of file
+8bab6002cfc8d67c506b35038e5ad392
\ No newline at end of file
diff --git a/doc/html/moveit__panel_8h__dep__incl.png b/doc/html/moveit__panel_8h__dep__incl.png
index 52d0e178ed6c6749e25614aed455c3c1912231dc..0a6abe8298ecdefbcbdb3f82ba6de95b3f29b039 100644
Binary files a/doc/html/moveit__panel_8h__dep__incl.png and b/doc/html/moveit__panel_8h__dep__incl.png differ
diff --git a/doc/html/moveit__panel_8h__incl.map b/doc/html/moveit__panel_8h__incl.map
index 24c0b39ca4eb7de3d4bc5074b52807a01d0f9903..8c0b21dda86df7dc6a13f37022b4f39db1341866 100644
--- a/doc/html/moveit__panel_8h__incl.map
+++ b/doc/html/moveit__panel_8h__incl.map
@@ -1,7 +1,7 @@
<map id="moveit_panel.h" name="moveit_panel.h">
<area shape="rect" id="node1" title=" " alt="" coords="331,5,454,32"/>
<area shape="rect" id="node2" title=" " alt="" coords="40,273,119,300"/>
-<area shape="rect" id="node3" href="$robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="145,184,320,225"/>
+<area shape="rect" id="node3" href="$abstract__robot__element_8h.html" title=" " alt="" coords="145,184,320,225"/>
<area shape="rect" id="node5" href="$panel_8h.html" title=" " alt="" coords="36,87,221,129"/>
<area shape="rect" id="node6" title=" " alt="" coords="297,80,489,136"/>
<area shape="rect" id="node7" title=" " alt="" coords="513,87,731,129"/>
diff --git a/doc/html/moveit__panel_8h__incl.md5 b/doc/html/moveit__panel_8h__incl.md5
index e1afb917e2ea4d04a79057caaa88d6ce150b1fc2..c2fa706b5a2952740859b38244fbd5742d5ac3f6 100644
--- a/doc/html/moveit__panel_8h__incl.md5
+++ b/doc/html/moveit__panel_8h__incl.md5
@@ -1 +1 @@
-0bfd26110322d7ad05c457921812d7b1
\ No newline at end of file
+d4f766de9017a98204478588d920990b
\ No newline at end of file
diff --git a/doc/html/moveit__panel_8h_source.html b/doc/html/moveit__panel_8h_source.html
index c380beb5f3584e5575265aa3514dacb5afe26091..87ee98337cf29882b376041e8bbdcb619b25dc38 100644
--- a/doc/html/moveit__panel_8h_source.html
+++ b/doc/html/moveit__panel_8h_source.html
@@ -29,7 +29,7 @@ $(function() {
<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="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__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>
@@ -37,35 +37,35 @@ $(function() {
<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="l00013"></a><span class="lineno"><a class="line" href="classMoveitPanel.html"> 13</a></span> <span class="keyword">class </span><a class="code" href="classMoveitPanel.html">MoveitPanel</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="l00015"></a><span class="lineno"><a class="line" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682"> 15</a></span>  moveit_msgs::CollisionObject <a class="code" href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">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="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel</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="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">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>
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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> <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>
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<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="aclassMoveitPanel_html"><div class="ttname"><a href="classMoveitPanel.html">MoveitPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="moveit__panel_8h_source.html#l00013">moveit_panel.h:13</a></div></div>
<div class="ttc" id="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>
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+<div class="ttc" id="aclassMoveitPanel_html_a2a5bd27deda20024bde9c4ab5d9dd779"><div class="ttname"><a href="classMoveitPanel.html#a2a5bd27deda20024bde9c4ab5d9dd779">MoveitPanel::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="aclassMoveitPanel_html_afe1cc4d474fd5762ba3583c075e0a4da"><div class="ttname"><a href="classMoveitPanel.html#afe1cc4d474fd5762ba3583c075e0a4da">MoveitPanel::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="aclassMoveitPanel_html_a3d41e6b2b3e2ecc2657f0c7e8ac91682"><div class="ttname"><a href="classMoveitPanel.html#a3d41e6b2b3e2ecc2657f0c7e8ac91682">MoveitPanel::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="aclassMoveitPanel_html_ac84cab821b106238b797616e3f4c7cb0"><div class="ttname"><a href="classMoveitPanel.html#ac84cab821b106238b797616e3f4c7cb0">MoveitPanel::MoveitPanel</a></div><div class="ttdeci">MoveitPanel(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>
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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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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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>
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-<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/mtc2taskspace_8cpp.html b/doc/html/mtc2taskspace_8cpp.html
index bd058fcd61fddba60fe16c80392975d443362d81..bbfd5e506b23b605146a0587d041b68628bd9833 100644
--- a/doc/html/mtc2taskspace_8cpp.html
+++ b/doc/html/mtc2taskspace_8cpp.html
@@ -98,7 +98,7 @@ Functions</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/mtc2taskspace_8cpp_source.html b/doc/html/mtc2taskspace_8cpp_source.html
index cb1f6785cf24c2a30e1005dd0c25724152320c1f..0b30401af7ea0d067699a192e11e69ed9eb0724f 100644
--- a/doc/html/mtc2taskspace_8cpp_source.html
+++ b/doc/html/mtc2taskspace_8cpp_source.html
@@ -37,23 +37,23 @@ $(function() {
<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="l00013"></a><span class="lineno"> 13</span>  std::unique_ptr<AbstractParamReader> ts_reader(<span class="keyword">new</span> <a class="code" href="classJobReader.html">JobReader</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="aclassJobReader_html"><div class="ttname"><a href="classJobReader.html">JobReader</a></div><div class="ttdoc">Job reader.</div><div class="ttdef"><b>Definition:</b> <a href="job__reader_8h_source.html#l00016">job_reader.h:16</a></div></div>
<div class="ttc" id="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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panda__decorator_8cpp.html b/doc/html/panda__decorator_8cpp.html
index e6c9c15cc775a664df199402f26ef4c049a72ae5..1d3bf1f2376d656894cf735af4e5bbc94632e2ae 100644
--- a/doc/html/panda__decorator_8cpp.html
+++ b/doc/html/panda__decorator_8cpp.html
@@ -32,22 +32,23 @@ Include dependency graph for panda_decorator.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="panda__decorator_8cpp__incl.png" border="0" usemap="#panda__decorator_8cpp" alt=""/></div>
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@@ -58,7 +59,7 @@ Include dependency graph for panda_decorator.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panda__decorator_8cpp__incl.map b/doc/html/panda__decorator_8cpp__incl.map
index f9eb5f4f9467b656527f6059e65c15736756e0e1..47e1e5e3967acfb1adaeefae0342caae9d759b4f 100644
--- a/doc/html/panda__decorator_8cpp__incl.map
+++ b/doc/html/panda__decorator_8cpp__incl.map
@@ -1,18 +1,19 @@
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diff --git a/doc/html/panda__decorator_8cpp__incl.md5 b/doc/html/panda__decorator_8cpp__incl.md5
index 706ce96aa0687356d07cc13e8264fb32c8e1892d..4f71dfaa98def6ca5f2cb1620bc3ca26eb4b555e 100644
--- a/doc/html/panda__decorator_8cpp__incl.md5
+++ b/doc/html/panda__decorator_8cpp__incl.md5
@@ -1 +1 @@
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index 847278f7959638f31a1d4c7acd269d941711c9a6..3450cfd82ed89b5c823c111038c9f7d63f73f43f 100644
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diff --git a/doc/html/panda__decorator_8cpp_source.html b/doc/html/panda__decorator_8cpp_source.html
index 2a01b903aa38008afadb953b076b416ecf58f20e..5f09d929baf3e57b6f0576c722d0aaca812db7ab 100644
--- a/doc/html/panda__decorator_8cpp_source.html
+++ b/doc/html/panda__decorator_8cpp_source.html
@@ -28,64 +28,65 @@ $(function() {
<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="l00004"></a><span class="lineno"><a class="line" href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787"> 4</a></span> <a class="code" href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator::PandaDecorator</a>(std::unique_ptr<AbstractRobot> next) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  : <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="l00007"></a><span class="lineno"> 7</span>  <a class="code" href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">pattern_</a> = <span class="stringliteral">"panda_arm([0-9]+)"</span>;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">spezifieRootBounds</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>  </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="l00011"></a><span class="lineno"><a class="line" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7"> 11</a></span> <span class="keywordtype">void</span> <a class="code" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">PandaDecorator::spezifieRootBounds</a>(){</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="comment">// panda root</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().clear();</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().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="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().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="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 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"><a class="line" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be"> 20</a></span> <span class="keywordtype">void</span> <a class="code" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">PandaDecorator::spezifieRobotGroups</a>(){</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">mgi_</a> = std::make_shared<moveit::planning_interface::MoveGroupInterface>(<a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->name());</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 class="line"><a name="l00023"></a><span class="lineno"> 23</span>  std::stringstream hand_n, ik_frame_n, name_n, base_n;</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>  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="l00026"></a><span class="lineno"> 26</span>  std::smatch match;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::regex_match(<a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->name(), match, panda_id);</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>  hand_n << <span class="stringliteral">"hand_"</span> << match[1];</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  ik_frame_n << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_link8"</span>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  base_n << <span class="stringliteral">"base_"</span> << match[1];</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="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a> = std::make_shared<moveit::planning_interface::MoveGroupInterface>(hand_n.str());</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="keywordflow">for</span> (<span class="keyword">auto</span>& link : <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a>->getLinkNames()){</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, left_finger)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"left_finger"</span>, link));</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, right_finger)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"right_finger"</span>, link));</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, hand_link)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"hand_link"</span>, link));</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="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"base"</span>, base_n.str()));</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</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="aclassPandaDecorator_html_a35981f432b8a87948cf9c344b95988d7"><div class="ttname"><a href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">PandaDecorator::spezifieRootBounds</a></div><div class="ttdeci">void spezifieRootBounds() override</div><div class="ttdoc">Panda Root spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00011">panda_decorator.cpp:11</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a300f221528cb239f0125e66f6a3e67d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">AbstractRobotDecorator::next_</a></div><div class="ttdeci">std::unique_ptr< AbstractRobot > next_</div><div class="ttdoc">Abstract Robot which is mimiced.</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="aclassAbstractRobotDecorator_html_a06a1ef5229d1524c4cb427520d1edc3a"><div class="ttname"><a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">AbstractRobotDecorator::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdoc">//!< Mapping of specific task constructor variables</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00028">abstract_robot_decorator.h:28</a></div></div>
+<div class="ttc" id="aclassPandaDecorator_html_a7ed0d3815b4f007959a430133c64d5be"><div class="ttname"><a href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">PandaDecorator::spezifieRobotGroups</a></div><div class="ttdeci">void spezifieRobotGroups() override</div><div class="ttdoc">Panda Mapping spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00020">panda_decorator.cpp:20</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_ac3727598e76fec150cce2de06a59782b"><div class="ttname"><a href="classAbstractRobotDecorator.html#ac3727598e76fec150cce2de06a59782b">AbstractRobotDecorator::mgi_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_</div><div class="ttdoc">MoveGroup Interface for the robots arm.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00025">abstract_robot_decorator.h:25</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_aceb71e9a949ed0b7693dbbc12da022b9"><div class="ttname"><a href="classAbstractRobotDecorator.html#aceb71e9a949ed0b7693dbbc12da022b9">AbstractRobotDecorator::pattern_</a></div><div class="ttdeci">std::string pattern_</div><div class="ttdoc">Regexpattern.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00030">abstract_robot_decorator.h:30</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a70fe6a61069c851f1adcd1f18e2f8a4d"><div class="ttname"><a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">AbstractRobotDecorator::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</div><div class="ttdoc">MoveGroup Interface for the Robots manipulator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00026">abstract_robot_decorator.h:26</a></div></div>
+<div class="ttc" id="aclassPandaDecorator_html_a90cfc11e70a67b5f5cfe048893ff3787"><div class="ttname"><a href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator::PandaDecorator</a></div><div class="ttdeci">PandaDecorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">Panda Decorator.</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="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
<div class="ttc" id="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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panda__decorator_8h.html b/doc/html/panda__decorator_8h.html
index 2be2b9c95a9bc3d10b927eea9791588e397b1c99..107162508585a44153fd532c53e174debb586e19 100644
--- a/doc/html/panda__decorator_8h.html
+++ b/doc/html/panda__decorator_8h.html
@@ -28,27 +28,28 @@ $(function() {
</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_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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</map>
</div>
</div><div class="textblock"><div class="dynheader">
@@ -56,9 +57,10 @@ 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">
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+<area shape="rect" title=" " alt="" coords="163,5,306,32"/>
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+<area shape="rect" href="panda__decorator_8cpp.html" title=" " alt="" coords="155,87,314,114"/>
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@@ -66,7 +68,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classPandaDecorator.html">PandaDecorator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Panda Decorator. <a href="classPandaDecorator.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -75,7 +78,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panda__decorator_8h__dep__incl.map b/doc/html/panda__decorator_8h__dep__incl.map
index 387d463ddc2e3a6b3fa7136503aef20fdbb9ed8e..b3cd6aad448925e16450b377e55d6540541b0199 100644
--- a/doc/html/panda__decorator_8h__dep__incl.map
+++ b/doc/html/panda__decorator_8h__dep__incl.map
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index 070692596952b7175cb14b9bdedc72466508d497..368ec8f4714c47cd4c85b28680df284cbe9e0e39 100644
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diff --git a/doc/html/panda__decorator_8h__incl.md5 b/doc/html/panda__decorator_8h__incl.md5
index 28a7c333c1eaf2b5fe999d5f46f4931787b4b4e1..b5d5532b732a4239ced95b0fb12bf865b9258e64 100644
--- a/doc/html/panda__decorator_8h__incl.md5
+++ b/doc/html/panda__decorator_8h__incl.md5
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diff --git a/doc/html/panda__decorator_8h_source.html b/doc/html/panda__decorator_8h_source.html
index cb292b13464d07fe06880fd961dc8bd28aa05f4b..8b499d2efa87817db3b82acc6c1cb14894d7d9af 100644
--- a/doc/html/panda__decorator_8h_source.html
+++ b/doc/html/panda__decorator_8h_source.html
@@ -29,36 +29,42 @@ $(function() {
<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="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__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 class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classPandaDecorator.html"> 13</a></span> <span class="keyword">class </span><a class="code" href="classPandaDecorator.html">PandaDecorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>{</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator</a>(std::unique_ptr<AbstractRobot> <a class="code" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>);</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"> 26</span>  <span class="keywordtype">void</span> <a class="code" href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">spezifieRootBounds</a>() <span class="keyword">override</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="l00030"></a><span class="lineno"> 30</span>  </div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">void</span> <a class="code" href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">spezifieRobotGroups</a>() <span class="keyword">override</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>  </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="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="aclassPandaDecorator_html_a35981f432b8a87948cf9c344b95988d7"><div class="ttname"><a href="classPandaDecorator.html#a35981f432b8a87948cf9c344b95988d7">PandaDecorator::spezifieRootBounds</a></div><div class="ttdeci">void spezifieRootBounds() override</div><div class="ttdoc">Panda Root spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00011">panda_decorator.cpp:11</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>
+<div class="ttc" id="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassPandaDecorator_html"><div class="ttname"><a href="classPandaDecorator.html">PandaDecorator</a></div><div class="ttdoc">Panda Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8h_source.html#l00013">panda_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassPandaDecorator_html_a7ed0d3815b4f007959a430133c64d5be"><div class="ttname"><a href="classPandaDecorator.html#a7ed0d3815b4f007959a430133c64d5be">PandaDecorator::spezifieRobotGroups</a></div><div class="ttdeci">void spezifieRobotGroups() override</div><div class="ttdoc">Panda Mapping spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="panda__decorator_8cpp_source.html#l00020">panda_decorator.cpp:20</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_af3b03bd96b7f53df1a4a76cf980429fe"><div class="ttname"><a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">AbstractRobotDecorator::next</a></div><div class="ttdeci">AbstractRobot * next()</div><div class="ttdoc">Call of mimiced objects.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00074">abstract_robot_decorator.h:74</a></div></div>
+<div class="ttc" id="aclassPandaDecorator_html_a90cfc11e70a67b5f5cfe048893ff3787"><div class="ttname"><a href="classPandaDecorator.html#a90cfc11e70a67b5f5cfe048893ff3787">PandaDecorator::PandaDecorator</a></div><div class="ttdeci">PandaDecorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">Panda Decorator.</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="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panel_8cpp.html b/doc/html/panel_8cpp.html
index c5de028927d80d80327e64e6713f91a5312e499f..a731f266e9615a245b455b1c45f4d68b3ce67f74 100644
--- a/doc/html/panel_8cpp.html
+++ b/doc/html/panel_8cpp.html
@@ -34,7 +34,7 @@ Include dependency graph for panel.cpp:</div>
<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"/>
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+<area shape="rect" href="abstract__robot__element_8h.html" title=" " alt="" coords="83,169,257,211"/>
<area shape="rect" title=" " alt="" coords="108,259,307,285"/>
</map>
</div>
@@ -46,7 +46,7 @@ Include dependency graph for panel.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panel_8cpp__incl.map b/doc/html/panel_8cpp__incl.map
index 16e415b022ad4e637bf411cbdf45b403ca735947..4b08d7894f69b6be145f9ee73f8100f882ddf9b4 100644
--- a/doc/html/panel_8cpp__incl.map
+++ b/doc/html/panel_8cpp__incl.map
@@ -2,6 +2,6 @@
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<area shape="rect" id="node3" title=" " alt="" coords="5,259,84,285"/>
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diff --git a/doc/html/panel_8cpp__incl.md5 b/doc/html/panel_8cpp__incl.md5
index f1fbe04ac2f36e828bf28fb2b675a652d3ee7a2b..65b7312e685be923fafbce640b6dbee3beb4b13b 100644
--- a/doc/html/panel_8cpp__incl.md5
+++ b/doc/html/panel_8cpp__incl.md5
@@ -1 +1 @@
-64b8d58c22a55af2b9686d419f21bc2a
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+65e2b3affceb887aea57376480cfd565
\ No newline at end of file
diff --git a/doc/html/panel_8cpp_source.html b/doc/html/panel_8cpp_source.html
index 9e9a6125142501cfb4d74c68c108c5bc0123a26d..dfff6039716f79fd6ba570609b159bf6cec1ef18 100644
--- a/doc/html/panel_8cpp_source.html
+++ b/doc/html/panel_8cpp_source.html
@@ -28,25 +28,25 @@ $(function() {
<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="l00004"></a><span class="lineno"> 4</span> : <a class="code" href="classAbstractRobotElement.html">AbstractRobotElement</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="l00006"></a><span class="lineno"> 6</span>  <a class="code" href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX()/2.f, <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX()/2.f, <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX()/-2.f, <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a>.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(<a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX()/-2.f, <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="aclassAbstractRobotElement_html"><div class="ttname"><a href="classAbstractRobotElement.html">AbstractRobotElement</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00007">abstract_robot_element.h:7</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="aclassAbstractRobotElement_html_a4e3e116bb96a12ad44e0fa7464213c7e"><div class="ttname"><a href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">AbstractRobotElement::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00014">abstract_robot_element.h:14</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="aclassAbstractRobotElement_html_ad9e7fd0d535253799855ad42f9ed7a52"><div class="ttname"><a href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00012">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panel_8h.html b/doc/html/panel_8h.html
index 0ad21dd51c8cd5b41eaca72194dac5ea7acc8a52..7967885f026cf6dae009c22a9fcd382b79496445 100644
--- a/doc/html/panel_8h.html
+++ b/doc/html/panel_8h.html
@@ -28,7 +28,7 @@ $(function() {
</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="abstract__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">
@@ -36,7 +36,7 @@ Include dependency graph for panel.h:</div>
<map name="panel_8h" id="panel_8h">
<area shape="rect" title=" " alt="" coords="72,5,143,32"/>
<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" href="abstract__robot__element_8h.html" title=" " alt="" coords="83,80,257,121"/>
<area shape="rect" title=" " alt="" coords="108,169,307,196"/>
</map>
</div>
@@ -45,19 +45,24 @@ This graph shows which files directly or indirectly include this file:</div>
<div class="dyncontent">
<div class="center"><img src="panel_8h__dep__incl.png" border="0" usemap="#panel_8hdep" alt=""/></div>
<map name="panel_8hdep" id="panel_8hdep">
-<area shape="rect" title=" " alt="" coords="727,5,798,32"/>
-<area shape="rect" href="ceti__robot_8h.html" title=" " alt="" coords="512,80,611,107"/>
-<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="519,304,691,345"/>
-<area shape="rect" href="moveit__panel_8h.html" title=" " alt="" coords="701,80,824,107"/>
-<area shape="rect" href="rviz__panel_8h.html" title=" " alt="" coords="91,155,192,181"/>
-<area shape="rect" href="panel_8cpp.html" title=" " alt="" coords="907,80,992,107"/>
-<area shape="rect" href="mediator_2abstract__mediator_8h.html" title=" " alt="" coords="326,155,479,181"/>
-<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="166,229,375,256"/>
-<area shape="rect" href="ceti__robot_8cpp.html" title=" " alt="" coords="504,155,619,181"/>
-<area shape="rect" href="mediator_2abstract__mediator_8cpp.html" title=" " alt="" coords="400,229,568,256"/>
-<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="159,311,383,338"/>
-<area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="693,155,832,181"/>
-<area shape="rect" href="rviz__panel_8cpp.html" title=" " alt="" coords="26,229,142,256"/>
+<area shape="rect" title=" " alt="" coords="935,5,1006,32"/>
+<area shape="rect" href="ceti__robot_8h.html" title=" " alt="" coords="767,80,865,107"/>
+<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="839,304,1011,345"/>
+<area shape="rect" href="moveit__panel_8h.html" title=" " alt="" coords="120,80,243,107"/>
+<area shape="rect" href="rviz__panel_8h.html" title=" " alt="" coords="920,155,1021,181"/>
+<area shape="rect" href="panel_8cpp.html" title=" " alt="" coords="1163,80,1248,107"/>
+<area shape="rect" href="abstract__mediator_8h.html" title=" " alt="" coords="470,155,623,181"/>
+<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="635,229,845,256"/>
+<area shape="rect" href="ceti__robot_8cpp.html" title=" " alt="" coords="664,155,779,181"/>
+<area shape="rect" href="execution_8h.html" title=" " alt="" coords="219,229,317,256"/>
+<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="123,393,248,420"/>
+<area shape="rect" href="moveit__mediator_8cpp.html" title=" " alt="" coords="369,393,530,420"/>
+<area shape="rect" href="abstract__mediator_8cpp.html" title=" " alt="" coords="341,229,509,256"/>
+<area shape="rect" href="moveit__mediator_8h.html" title=" " alt="" coords="168,311,315,338"/>
+<area shape="rect" href="execution_8cpp.html" title=" " alt="" coords="339,311,453,338"/>
+<area shape="rect" href="base__calculation__mediator_8cpp.html" title=" " alt="" coords="591,311,815,338"/>
+<area shape="rect" href="moveit__panel_8cpp.html" title=" " alt="" coords="5,155,144,181"/>
+<area shape="rect" href="rviz__panel_8cpp.html" title=" " alt="" coords="971,229,1087,256"/>
</map>
</div>
</div>
@@ -74,7 +79,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/panel_8h__dep__incl.map b/doc/html/panel_8h__dep__incl.map
index 6c270e1a398821ca9d5e292429525065c74772d3..3f1594f3bf169fc4d80d6aacebb480a2a9453aa4 100644
--- a/doc/html/panel_8h__dep__incl.map
+++ b/doc/html/panel_8h__dep__incl.map
@@ -1,15 +1,20 @@
<map id="panel.h" name="panel.h">
-<area shape="rect" id="node1" title=" " alt="" coords="727,5,798,32"/>
-<area shape="rect" id="node2" href="$ceti__robot_8h.html" title=" " alt="" coords="512,80,611,107"/>
-<area shape="rect" id="node6" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="519,304,691,345"/>
-<area shape="rect" id="node9" href="$moveit__panel_8h.html" title=" " alt="" coords="701,80,824,107"/>
-<area shape="rect" id="node11" href="$rviz__panel_8h.html" title=" " alt="" coords="91,155,192,181"/>
-<area shape="rect" id="node13" href="$panel_8cpp.html" title=" " alt="" coords="907,80,992,107"/>
-<area shape="rect" id="node3" href="$mediator_2abstract__mediator_8h.html" title=" " alt="" coords="326,155,479,181"/>
-<area shape="rect" id="node4" href="$base__calculation__mediator_8h.html" title=" " alt="" coords="166,229,375,256"/>
-<area shape="rect" id="node8" href="$ceti__robot_8cpp.html" title=" " alt="" coords="504,155,619,181"/>
-<area shape="rect" id="node7" href="$mediator_2abstract__mediator_8cpp.html" title=" " alt="" coords="400,229,568,256"/>
-<area shape="rect" id="node5" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="159,311,383,338"/>
-<area shape="rect" id="node10" href="$moveit__panel_8cpp.html" title=" " alt="" coords="693,155,832,181"/>
-<area shape="rect" id="node12" href="$rviz__panel_8cpp.html" title=" " alt="" coords="26,229,142,256"/>
+<area shape="rect" id="node1" title=" " alt="" coords="935,5,1006,32"/>
+<area shape="rect" id="node2" href="$ceti__robot_8h.html" title=" " alt="" coords="767,80,865,107"/>
+<area shape="rect" id="node11" href="$robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="839,304,1011,345"/>
+<area shape="rect" id="node14" href="$moveit__panel_8h.html" title=" " alt="" coords="120,80,243,107"/>
+<area shape="rect" id="node16" href="$rviz__panel_8h.html" title=" " alt="" coords="920,155,1021,181"/>
+<area shape="rect" id="node18" href="$panel_8cpp.html" title=" " alt="" coords="1163,80,1248,107"/>
+<area shape="rect" id="node3" href="$abstract__mediator_8h.html" title=" " alt="" coords="470,155,623,181"/>
+<area shape="rect" id="node9" href="$base__calculation__mediator_8h.html" title=" " alt="" coords="635,229,845,256"/>
+<area shape="rect" id="node13" href="$ceti__robot_8cpp.html" title=" " alt="" coords="664,155,779,181"/>
+<area shape="rect" id="node4" href="$execution_8h.html" title=" " alt="" coords="219,229,317,256"/>
+<area shape="rect" id="node6" href="$cell__routine_8cpp.html" title=" " alt="" coords="123,393,248,420"/>
+<area shape="rect" id="node7" href="$moveit__mediator_8cpp.html" title=" " alt="" coords="369,393,530,420"/>
+<area shape="rect" id="node12" href="$abstract__mediator_8cpp.html" title=" " alt="" coords="341,229,509,256"/>
+<area shape="rect" id="node5" href="$moveit__mediator_8h.html" title=" " alt="" coords="168,311,315,338"/>
+<area shape="rect" id="node8" href="$execution_8cpp.html" title=" " alt="" coords="339,311,453,338"/>
+<area shape="rect" id="node10" href="$base__calculation__mediator_8cpp.html" title=" " alt="" coords="591,311,815,338"/>
+<area shape="rect" id="node15" href="$moveit__panel_8cpp.html" title=" " alt="" coords="5,155,144,181"/>
+<area shape="rect" id="node17" href="$rviz__panel_8cpp.html" title=" " alt="" coords="971,229,1087,256"/>
</map>
diff --git a/doc/html/panel_8h__dep__incl.md5 b/doc/html/panel_8h__dep__incl.md5
index da9a1fd91c7773933c4fc8aa2bf26802a7240165..3103bd9488b553323008f4779664ed26301cf0a0 100644
--- a/doc/html/panel_8h__dep__incl.md5
+++ b/doc/html/panel_8h__dep__incl.md5
@@ -1 +1 @@
-332a1bd57e5f393fb773e1f55decfd37
\ No newline at end of file
+47348de96500341d1f6e7b6c43d30527
\ No newline at end of file
diff --git a/doc/html/panel_8h__dep__incl.png b/doc/html/panel_8h__dep__incl.png
index 841a0e11138ff218fc1c09c974a58ed2fa8f190e..1ea7e7b888ac64acf7ed120247d0a508a89a92c8 100644
Binary files a/doc/html/panel_8h__dep__incl.png and b/doc/html/panel_8h__dep__incl.png differ
diff --git a/doc/html/panel_8h__incl.map b/doc/html/panel_8h__incl.map
index dd33ff2ec4852cb2f5d989e2102128f78bb6faa1..d52ec702f8dbb490c28134ed27536bfeaa08ca70 100644
--- a/doc/html/panel_8h__incl.map
+++ b/doc/html/panel_8h__incl.map
@@ -1,6 +1,6 @@
<map id="panel.h" name="panel.h">
<area shape="rect" id="node1" title=" " alt="" coords="72,5,143,32"/>
<area shape="rect" id="node2" title=" " alt="" coords="5,169,84,196"/>
-<area shape="rect" id="node3" href="$robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="83,80,257,121"/>
+<area shape="rect" id="node3" href="$abstract__robot__element_8h.html" title=" " alt="" coords="83,80,257,121"/>
<area shape="rect" id="node4" title=" " alt="" coords="108,169,307,196"/>
</map>
diff --git a/doc/html/panel_8h__incl.md5 b/doc/html/panel_8h__incl.md5
index 9812808076cfbc154564e77d608f5e37c59f0db9..dddfbca07d79a86d580272be1208f9616499bd20 100644
--- a/doc/html/panel_8h__incl.md5
+++ b/doc/html/panel_8h__incl.md5
@@ -1 +1 @@
-2592f1d8dda4ab32fea2ed056e1f7a61
\ No newline at end of file
+ba3c015ec6239400d1ad45b4fafa65ae
\ No newline at end of file
diff --git a/doc/html/panel_8h_source.html b/doc/html/panel_8h_source.html
index b81737bd2ca7cf0e709b88e1b762ccd0268c7a52..4b05b547b04fb715d16b7126acecafdf09279747 100644
--- a/doc/html/panel_8h_source.html
+++ b/doc/html/panel_8h_source.html
@@ -29,48 +29,48 @@ $(function() {
<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="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "<a class="code" href="abstract__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="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="classAbstractRobotElement.html">AbstractRobotElement</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="l00011"></a><span class="lineno"><a class="line" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e"> 11</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">setName</a>(std::string str) {<a class="code" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a> = str;}</div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0"> 12</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">setSize</a>(tf2::Vector3& vec) {<a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="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="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">calcWorldTf</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="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="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">bounds_</a>;}</div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03"> 17</a></span>  tf2::Transform& <a class="code" href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">worldTf</a>()<span class="keyword"> override </span>{<span class="keywordflow">return</span> <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">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="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">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="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">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="aclassAbstractRobotElement_html_a48a10e0425bb56cabf0dad275976bb76"><div class="ttname"><a href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">AbstractRobotElement::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00009">abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html"><div class="ttname"><a href="classAbstractRobotElement.html">AbstractRobotElement</a></div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00007">abstract_robot_element.h:7</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_a23fa1c5f2f3ea42d342d7db2dbba2a6e"><div class="ttname"><a href="classPanel.html#a23fa1c5f2f3ea42d342d7db2dbba2a6e">Panel::setName</a></div><div class="ttdeci">void setName(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="aclassAbstractRobotElement_html_a4e3e116bb96a12ad44e0fa7464213c7e"><div class="ttname"><a href="classAbstractRobotElement.html#a4e3e116bb96a12ad44e0fa7464213c7e">AbstractRobotElement::bounds_</a></div><div class="ttdeci">std::vector< tf2::Transform > bounds_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00014">abstract_robot_element.h:14</a></div></div>
+<div class="ttc" id="aclassPanel_html_a337d9bf9cd3a43f2f3963b6dda5548c0"><div class="ttname"><a href="classPanel.html#a337d9bf9cd3a43f2f3963b6dda5548c0">Panel::setSize</a></div><div class="ttdeci">void setSize(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="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="aclassAbstractRobotElement_html_a1304c7308731251e789ccfb9368a61f9"><div class="ttname"><a href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">AbstractRobotElement::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00011">abstract_robot_element.h:11</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_a992ba04d68b9a3c718fe69a88cd7ec03"><div class="ttname"><a href="classPanel.html#a992ba04d68b9a3c718fe69a88cd7ec03">Panel::worldTf</a></div><div class="ttdeci">tf2::Transform & worldTf() 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_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="aclassAbstractRobotElement_html_a41e8e3dd3386f5716db3c81b747a3ac7"><div class="ttname"><a href="classAbstractRobotElement.html#a41e8e3dd3386f5716db3c81b747a3ac7">AbstractRobotElement::calcWorldTf</a></div><div class="ttdeci">void calcWorldTf(tf2::Transform &tf)</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00027">abstract_robot_element.h:27</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>
+<div class="ttc" id="aabstract__robot__element_8h_html"><div class="ttname"><a href="abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobotElement_html_ad9e7fd0d535253799855ad42f9ed7a52"><div class="ttname"><a href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00012">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/field_8cpp.html b/doc/html/parallel__robot_8cpp.html
similarity index 51%
rename from doc/html/field_8cpp.html
rename to doc/html/parallel__robot_8cpp.html
index 0f23e39801f0bf5f91909bde0212593889056ddc..26577ac718bf9c5a3bdcfabec965a31c62819f33 100644
--- a/doc/html/field_8cpp.html
+++ b/doc/html/parallel__robot_8cpp.html
@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: field.cpp File Reference</title>
+<title>multi_cell_builder: parallel_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>
@@ -17,36 +17,41 @@ $(function() {
<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>
+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_3fa4fe7af966ee5402ed4c492cbb29ae.html">bt</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
-<div class="title">field.cpp File Reference</div> </div>
+<div class="title">parallel_robot.cpp File Reference</div> </div>
</div><!--header-->
<div class="contents">
-<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 class="textblock"><code>#include "<a class="el" href="parallel__robot_8h_source.html">bt/parallel_robot.h</a>"</code><br />
+<code>#include <algorithm></code><br />
+<code>#include <cstddef></code><br />
+<code>#include "behaviortree_cpp_v3/controls/parallel_node.h"</code><br />
</div><div class="textblock"><div class="dynheader">
-Include dependency graph for field.cpp:</div>
+Include dependency graph for parallel_robot.cpp:</div>
<div class="dyncontent">
-<div class="center"><img src="field_8cpp__incl.png" border="0" usemap="#field_8cpp" alt=""/></div>
-<map name="field_8cpp" id="field_8cpp">
-<area shape="rect" title=" " alt="" coords="68,5,147,32"/>
-<area shape="rect" href="robot__element_2observers_2field_8h.html" title=" " alt="" coords="15,80,200,121"/>
-<area shape="rect" title=" " alt="" coords="5,259,84,285"/>
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+<p><a href="parallel__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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
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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_3fa4fe7af966ee5402ed4c492cbb29ae.html">bt</a></li> </ul>
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+<div class="title">parallel_robot.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="parallel__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="parallel__robot_8h.html">bt/parallel_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> <span class="comment">/* Copyright (C) 2015-2018 Michele Colledanchise - All Rights Reserved</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (C) 2018-2020 Davide Faconti, Eurecat - All Rights Reserved</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">*</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* 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:</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.</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">* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* 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,</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* 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.</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>  </div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <algorithm></span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <cstddef></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 "behaviortree_cpp_v3/controls/parallel_node.h"</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> constexpr <span class="keyword">const</span> <span class="keywordtype">char</span>* BT::ParallelNode::THRESHOLD_FAILURE;</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> constexpr <span class="keyword">const</span> <span class="keywordtype">char</span>* BT::ParallelNode::THRESHOLD_SUCCESS;</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="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05"> 24</a></span> <a class="code" href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot::Parallel_robot</a>(<span class="keyword">const</span> std::string& name, <span class="keywordtype">int</span> success_threshold, <span class="keywordtype">int</span> failure_threshold) :</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  BT::ControlNode(name, {}),</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  success_threshold_(success_threshold),</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  failure_threshold_(failure_threshold),</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  read_parameter_from_ports_(<span class="keyword">false</span>){</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  setRegistrationID(<span class="stringliteral">"Parallel_robot"</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="classParallel__robot.html#a271c718a61caa49962844920702423ab"> 32</a></span> <a class="code" href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot::Parallel_robot</a>(<span class="keyword">const</span> std::string& name, <span class="keyword">const</span> BT::NodeConfiguration& config) :</div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  BT::ControlNode(name, config),</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  success_threshold_(1),</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  failure_threshold_(1),</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  read_parameter_from_ports_(true)</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="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888"> 39</a></span> BT::NodeStatus <a class="code" href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">Parallel_robot::tick</a>(){</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">if</span> (<a class="code" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">read_parameter_from_ports_</a>){</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">if</span> (!getInput(<a class="code" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">THRESHOLD_SUCCESS</a>, <a class="code" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a>)){</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordflow">throw</span> BT::RuntimeError(<span class="stringliteral">"Missing parameter ["</span>, <a class="code" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">THRESHOLD_SUCCESS</a>, <span class="stringliteral">"] in ParallelNode"</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>  <span class="keywordflow">if</span> (!getInput(<a class="code" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">THRESHOLD_FAILURE</a>, <a class="code" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">failure_threshold_</a>)){</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">throw</span> BT::RuntimeError(<span class="stringliteral">"Missing parameter ["</span>, <a class="code" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">THRESHOLD_FAILURE</a>, <span class="stringliteral">"] in ParallelNode"</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>  <span class="keywordtype">size_t</span> success_childred_num = 0;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">size_t</span> failure_childred_num = 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>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> children_count = children_nodes_.size();</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">if</span> (children_count < <a class="code" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">successThreshold</a>()){</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">throw</span> BT::LogicError(<span class="stringliteral">"Number of children is less than threshold. Can never succeed."</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>  <span class="keywordflow">if</span> (children_count < <a class="code" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">failureThreshold</a>()){</div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">throw</span> BT::LogicError(<span class="stringliteral">"Number of children is less than threshold. Can never fail."</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>  </div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// Routing the tree according to the sequence node's logic:</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < children_count; i++){</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  TreeNode* child_node = children_nodes_[i];</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="keywordtype">bool</span> in_skip_list = (<a class="code" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a>.count(i) != 0);</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>  BT::NodeStatus child_status;</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">if</span> (in_skip_list){</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  child_status = child_node->status();</div>
+<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">else</span>{</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  child_status = child_node->executeTick();</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>  <span class="keywordflow">switch</span> (child_status){</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">case</span> BT::NodeStatus::SUCCESS: {</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">if</span> (!in_skip_list){</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <a class="code" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a>.insert(i);</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>  success_childred_num++;</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">if</span> (success_childred_num == <a class="code" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">successThreshold</a>()){</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a>.clear();</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  BT::ControlNode::ControlNode::</div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  resetChildren();</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</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>  <span class="keywordflow">break</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>  <span class="keywordflow">case</span> BT::NodeStatus::FAILURE: {</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="comment">// It fails if it is not possible to succeed anymore or if</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// number of failures are equal to failure_threshold_</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">if</span> ((failure_childred_num > children_count - <a class="code" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">successThreshold</a>()) ||</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  (failure_childred_num == <a class="code" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">failureThreshold</a>())){</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a>.clear();</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  resetChildren();</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">return</span> BT::NodeStatus::FAILURE;</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>  <span class="keywordflow">break</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">case</span> BT::NodeStatus::RUNNING: {</div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</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">break</span>;</div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">default</span>: {</div>
+<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">throw</span> BT::LogicError(<span class="stringliteral">"A child node must never return IDLE"</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>  }</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>  <span class="keywordflow">return</span> BT::NodeStatus::RUNNING;</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> }</div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
+<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb"> 120</a></span> <span class="keywordtype">void</span> <a class="code" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">Parallel_robot::halt</a>()</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> {</div>
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+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  ControlNode::halt();</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"><a class="line" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517"> 126</a></span> <span class="keywordtype">size_t</span> <a class="code" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">Parallel_robot::successThreshold</a>()<span class="keyword"> const</span></div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="keyword"></span>{</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> <a class="code" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a> < 0 ?</div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  std::max(children_nodes_.size() + <a class="code" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a> + 1, <span class="keywordtype">size_t</span>(0)) :</div>
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+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> }</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0"> 133</a></span> <span class="keywordtype">size_t</span> <a class="code" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">Parallel_robot::failureThreshold</a>()<span class="keyword"> const</span>{</div>
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+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  std::max(children_nodes_.size() + <a class="code" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">failure_threshold_</a> + 1, <span class="keywordtype">size_t</span>(0)) :</div>
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+<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>
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+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <a class="code" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a> = threshold_M;</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"><a class="line" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b"> 143</a></span> <span class="keywordtype">void</span> <a class="code" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">Parallel_robot::setFailureThreshold</a>(<span class="keywordtype">int</span> threshold_M){</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <a class="code" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">failure_threshold_</a> = threshold_M;</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassParallel__robot_html_ad4aea64f621cd55774ce35b149532888"><div class="ttname"><a href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">Parallel_robot::tick</a></div><div class="ttdeci">virtual BT::NodeStatus tick() override</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00039">parallel_robot.cpp:39</a></div></div>
+<div class="ttc" id="aparallel__robot_8h_html"><div class="ttname"><a href="parallel__robot_8h.html">parallel_robot.h</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a18d65326a2ad39a4f9db87d35fe86a72"><div class="ttname"><a href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">Parallel_robot::THRESHOLD_FAILURE</a></div><div class="ttdeci">static constexpr const char * THRESHOLD_FAILURE</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00039">parallel_robot.h:39</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a17ea6f51f03e722461dd3f23b424e83b"><div class="ttname"><a href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">Parallel_robot::setFailureThreshold</a></div><div class="ttdeci">void setFailureThreshold(int threshold_M)</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00143">parallel_robot.cpp:143</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a5f61356e63d4df62dc58425b6d527fe5"><div class="ttname"><a href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">Parallel_robot::setSuccessThreshold</a></div><div class="ttdeci">void setSuccessThreshold(int threshold_M)</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00139">parallel_robot.cpp:139</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a35fe1b8632f9c0840f042186a099aef6"><div class="ttname"><a href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">Parallel_robot::skip_list_</a></div><div class="ttdeci">std::set< int > skip_list_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00035">parallel_robot.h:35</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a61852573b46662bedbae6e566f3274ad"><div class="ttname"><a href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">Parallel_robot::THRESHOLD_SUCCESS</a></div><div class="ttdeci">static constexpr const char * THRESHOLD_SUCCESS</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00038">parallel_robot.h:38</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_aea8990fc1a14b9d74cabf503958171f0"><div class="ttname"><a href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">Parallel_robot::failureThreshold</a></div><div class="ttdeci">size_t failureThreshold() const</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00133">parallel_robot.cpp:133</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a2a54c8f9bb5f8d5c9800907d55758709"><div class="ttname"><a href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">Parallel_robot::failure_threshold_</a></div><div class="ttdeci">int failure_threshold_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00033">parallel_robot.h:33</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a93f91a57685763cfa5937a0d23d386ce"><div class="ttname"><a href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">Parallel_robot::success_threshold_</a></div><div class="ttdeci">int success_threshold_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00032">parallel_robot.h:32</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_ad93af8c0183246a5cd280f0107c85774"><div class="ttname"><a href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">Parallel_robot::read_parameter_from_ports_</a></div><div class="ttdeci">bool read_parameter_from_ports_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00037">parallel_robot.h:37</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a39d6302c432a3a241db38d3c114e4d05"><div class="ttname"><a href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot::Parallel_robot</a></div><div class="ttdeci">Parallel_robot(const std::string &name, int success_threshold, int failure_threshold=1)</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00024">parallel_robot.cpp:24</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a46947e2d10f00779b104f0e6c89cd517"><div class="ttname"><a href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">Parallel_robot::successThreshold</a></div><div class="ttdeci">size_t successThreshold() const</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00126">parallel_robot.cpp:126</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a51e9a303d56b52653fa05e142a0774fb"><div class="ttname"><a href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">Parallel_robot::halt</a></div><div class="ttdeci">virtual void halt() override</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00120">parallel_robot.cpp:120</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/collision__helper_8h.html b/doc/html/parallel__robot_8h.html
similarity index 52%
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@@ -1,5 +1,5 @@
<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: collision_helper.h File Reference</title>
+<title>multi_cell_builder: parallel_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>
@@ -17,51 +17,46 @@ $(function() {
<div id="main-nav"></div>
<div id="nav-path" class="navpath">
<ul>
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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_667ff67bcf6db6b92614eeda031ac18f.html">bt</a></li> </ul>
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<div class="summary">
<a href="#nested-classes">Classes</a> </div>
<div class="headertitle">
-<div class="title">collision_helper.h File Reference</div> </div>
+<div class="title">parallel_robot.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 class="textblock"><code>#include <set></code><br />
+<code>#include "behaviortree_cpp_v3/control_node.h"</code><br />
</div><div class="textblock"><div class="dynheader">
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+Include dependency graph for parallel_robot.h:</div>
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-<p><a href="collision__helper_8h_source.html">Go to the source code of this file.</a></p>
+<p><a href="parallel__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>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classParallel__robot.html">Parallel_robot</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -70,7 +65,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
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+<link href="tabs.css" rel="stylesheet" type="text/css">
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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_667ff67bcf6db6b92614eeda031ac18f.html">bt</a></li> </ul>
+</div>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">parallel_robot.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="parallel__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 PARALLEL_ROBOT_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define PARALLEL_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">#pragma once</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 <set></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "behaviortree_cpp_v3/control_node.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"><a class="line" href="classParallel__robot.html"> 9</a></span> <span class="keyword">class </span><a class="code" href="classParallel__robot.html">Parallel_robot</a> : <span class="keyword">public</span> BT::ControlNode{</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="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot</a>(<span class="keyword">const</span> std::string& name, <span class="keywordtype">int</span> success_threshold, <span class="keywordtype">int</span> failure_threshold = 1);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot</a>(<span class="keyword">const</span> std::string& name, <span class="keyword">const</span> BT::NodeConfiguration& config);</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="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192"> 14</a></span>  <span class="keyword">static</span> BT::PortsList <a class="code" href="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192">providedPorts</a>(){</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordflow">return</span> {BT::InputPort<int>(<a class="code" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">THRESHOLD_SUCCESS</a>, <span class="stringliteral">"number of childen which need to succeed "</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="stringliteral">"to "</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="stringliteral">"trigger a SUCCESS"</span>),</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  BT::InputPort<int>(<a class="code" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">THRESHOLD_FAILURE</a>, 1,</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="stringliteral">"number of childen which need to fail to trigger a FAILURE"</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>  <a class="code" href="classParallel__robot.html#ae47e7694da2fffee10f8488e5ce66af4">~Parallel_robot</a>() <span class="keyword">override</span> = <span class="keywordflow">default</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="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">halt</a>() <span class="keyword">override</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="keywordtype">size_t</span> <a class="code" href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">successThreshold</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">size_t</span> <a class="code" href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">failureThreshold</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">void</span> <a class="code" href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">setSuccessThreshold</a>(<span class="keywordtype">int</span> threshold_M);</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordtype">void</span> <a class="code" href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">setFailureThreshold</a>(<span class="keywordtype">int</span> threshold_M);</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">private</span>:</div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce"> 32</a></span>  <span class="keywordtype">int</span> <a class="code" href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">success_threshold_</a>;</div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709"> 33</a></span>  <span class="keywordtype">int</span> <a class="code" href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">failure_threshold_</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="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6"> 35</a></span>  std::set<int> <a class="code" href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">skip_list_</a>;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774"> 37</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">read_parameter_from_ports_</a>;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad"> 38</a></span>  <span class="keyword">static</span> constexpr <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">THRESHOLD_SUCCESS</a> = <span class="stringliteral">"success_threshold"</span>;</div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72"> 39</a></span>  <span class="keyword">static</span> constexpr <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">THRESHOLD_FAILURE</a> = <span class="stringliteral">"failure_threshold"</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="keyword">virtual</span> BT::NodeStatus <a class="code" href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">tick</a>() <span class="keyword">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> <span class="preprocessor">#endif</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassParallel__robot_html_ad4aea64f621cd55774ce35b149532888"><div class="ttname"><a href="classParallel__robot.html#ad4aea64f621cd55774ce35b149532888">Parallel_robot::tick</a></div><div class="ttdeci">virtual BT::NodeStatus tick() override</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00039">parallel_robot.cpp:39</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a18d65326a2ad39a4f9db87d35fe86a72"><div class="ttname"><a href="classParallel__robot.html#a18d65326a2ad39a4f9db87d35fe86a72">Parallel_robot::THRESHOLD_FAILURE</a></div><div class="ttdeci">static constexpr const char * THRESHOLD_FAILURE</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00039">parallel_robot.h:39</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a17ea6f51f03e722461dd3f23b424e83b"><div class="ttname"><a href="classParallel__robot.html#a17ea6f51f03e722461dd3f23b424e83b">Parallel_robot::setFailureThreshold</a></div><div class="ttdeci">void setFailureThreshold(int threshold_M)</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00143">parallel_robot.cpp:143</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a5f61356e63d4df62dc58425b6d527fe5"><div class="ttname"><a href="classParallel__robot.html#a5f61356e63d4df62dc58425b6d527fe5">Parallel_robot::setSuccessThreshold</a></div><div class="ttdeci">void setSuccessThreshold(int threshold_M)</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00139">parallel_robot.cpp:139</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a35fe1b8632f9c0840f042186a099aef6"><div class="ttname"><a href="classParallel__robot.html#a35fe1b8632f9c0840f042186a099aef6">Parallel_robot::skip_list_</a></div><div class="ttdeci">std::set< int > skip_list_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00035">parallel_robot.h:35</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a61852573b46662bedbae6e566f3274ad"><div class="ttname"><a href="classParallel__robot.html#a61852573b46662bedbae6e566f3274ad">Parallel_robot::THRESHOLD_SUCCESS</a></div><div class="ttdeci">static constexpr const char * THRESHOLD_SUCCESS</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00038">parallel_robot.h:38</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_aea8990fc1a14b9d74cabf503958171f0"><div class="ttname"><a href="classParallel__robot.html#aea8990fc1a14b9d74cabf503958171f0">Parallel_robot::failureThreshold</a></div><div class="ttdeci">size_t failureThreshold() const</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00133">parallel_robot.cpp:133</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a2a54c8f9bb5f8d5c9800907d55758709"><div class="ttname"><a href="classParallel__robot.html#a2a54c8f9bb5f8d5c9800907d55758709">Parallel_robot::failure_threshold_</a></div><div class="ttdeci">int failure_threshold_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00033">parallel_robot.h:33</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html"><div class="ttname"><a href="classParallel__robot.html">Parallel_robot</a></div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00009">parallel_robot.h:9</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a93f91a57685763cfa5937a0d23d386ce"><div class="ttname"><a href="classParallel__robot.html#a93f91a57685763cfa5937a0d23d386ce">Parallel_robot::success_threshold_</a></div><div class="ttdeci">int success_threshold_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00032">parallel_robot.h:32</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_ad93af8c0183246a5cd280f0107c85774"><div class="ttname"><a href="classParallel__robot.html#ad93af8c0183246a5cd280f0107c85774">Parallel_robot::read_parameter_from_ports_</a></div><div class="ttdeci">bool read_parameter_from_ports_</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00037">parallel_robot.h:37</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a39d6302c432a3a241db38d3c114e4d05"><div class="ttname"><a href="classParallel__robot.html#a39d6302c432a3a241db38d3c114e4d05">Parallel_robot::Parallel_robot</a></div><div class="ttdeci">Parallel_robot(const std::string &name, int success_threshold, int failure_threshold=1)</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00024">parallel_robot.cpp:24</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a31eeadd3e4da2afd68a739461ecbc192"><div class="ttname"><a href="classParallel__robot.html#a31eeadd3e4da2afd68a739461ecbc192">Parallel_robot::providedPorts</a></div><div class="ttdeci">static BT::PortsList providedPorts()</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8h_source.html#l00014">parallel_robot.h:14</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a46947e2d10f00779b104f0e6c89cd517"><div class="ttname"><a href="classParallel__robot.html#a46947e2d10f00779b104f0e6c89cd517">Parallel_robot::successThreshold</a></div><div class="ttdeci">size_t successThreshold() const</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00126">parallel_robot.cpp:126</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_a51e9a303d56b52653fa05e142a0774fb"><div class="ttname"><a href="classParallel__robot.html#a51e9a303d56b52653fa05e142a0774fb">Parallel_robot::halt</a></div><div class="ttdeci">virtual void halt() override</div><div class="ttdef"><b>Definition:</b> <a href="parallel__robot_8cpp_source.html#l00120">parallel_robot.cpp:120</a></div></div>
+<div class="ttc" id="aclassParallel__robot_html_ae47e7694da2fffee10f8488e5ce66af4"><div class="ttname"><a href="classParallel__robot.html#ae47e7694da2fffee10f8488e5ce66af4">Parallel_robot::~Parallel_robot</a></div><div class="ttdeci">~Parallel_robot() override=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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+ <div class="headertitle">
+<div class="title">position_condition.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="position__condition_8h_source.html">bt/position_condition.h</a>"</code><br />
+</div><div class="textblock"><div class="dynheader">
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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 Mon Mar 27 2023 19:07:14</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: position_condition.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_3fa4fe7af966ee5402ed4c492cbb29ae.html">bt</a></li> </ul>
+</div>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">position_condition.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="position__condition_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="position__condition_8h.html">bt/position_condition.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="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b"> 3</a></span> <a class="code" href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition::PositionCondition</a>(<span class="keyword">const</span> std::string& name, <span class="keyword">const</span> BT::NodeConfiguration& config)</div>
+<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  : BT::ConditionNode(name, config){}</div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div>
+<div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29"> 6</a></span> <span class="keywordtype">void</span> <a class="code" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">PositionCondition::init</a>(<span class="keyword">const</span> std::string& obj_name, tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi){</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  <a class="code" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">obj_name_</a> = obj_name;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <a class="code" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">psi_</a> = psi;</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">start_pos_</a> = start_pos;</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="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3"> 12</a></span> BT::NodeStatus <a class="code" href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">PositionCondition::tick</a>(){</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="keyword">auto</span> ref_pose = <a class="code" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">psi_</a>->getObjects().at(<a class="code" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">obj_name_</a>);</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordflow">if</span>(tf2::tf2Distance2(<a class="code" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">start_pos_</a>, tf2::Vector3(ref_pose.pose.position.x, ref_pose.pose.position.y, ref_pose.pose.position.z )) == 0){</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">return</span> BT::NodeStatus::SUCCESS;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  } <span class="keywordflow">else</span> {</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordflow">return</span> BT::NodeStatus::FAILURE;</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">catch</span>(std::out_of_range& oor) {</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  ROS_INFO(<span class="stringliteral">"Position to check not found"</span>);</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">return</span> BT::NodeStatus::FAILURE;</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><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassPositionCondition_html_a5aef5e00f9dfa8fc3b80bc1fa86b358e"><div class="ttname"><a href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">PositionCondition::start_pos_</a></div><div class="ttdeci">tf2::Vector3 start_pos_</div><div class="ttdoc">Start position.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00054">position_condition.h:54</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_aff184773a2a27806790ed315f88eb8a3"><div class="ttname"><a href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">PositionCondition::tick</a></div><div class="ttdeci">virtual BT::NodeStatus tick() override</div><div class="ttdoc">tick function</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8cpp_source.html#l00012">position_condition.cpp:12</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_af8910f64e26617d23e971c29c127a88e"><div class="ttname"><a href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">PositionCondition::psi_</a></div><div class="ttdeci">moveit::planning_interface::PlanningSceneInterface * psi_</div><div class="ttdoc">PSI.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00053">position_condition.h:53</a></div></div>
+<div class="ttc" id="aposition__condition_8h_html"><div class="ttname"><a href="position__condition_8h.html">position_condition.h</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_ad4c35d4df2ee3cb464c7cd394ef2e97b"><div class="ttname"><a href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition::PositionCondition</a></div><div class="ttdeci">PositionCondition(const std::string &name, const BT::NodeConfiguration &config)</div><div class="ttdoc">PositionCondition constructor.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8cpp_source.html#l00003">position_condition.cpp:3</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_ac75b50f2bf55d0a65c672143d0cada29"><div class="ttname"><a href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">PositionCondition::init</a></div><div class="ttdeci">void init(const std::string &obj_name, tf2::Vector3 &start_pos, moveit::planning_interface::PlanningSceneInterface *psi)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8cpp_source.html#l00006">position_condition.cpp:6</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_a042c6ac7a28051aa0491058557985c1d"><div class="ttname"><a href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">PositionCondition::obj_name_</a></div><div class="ttdeci">std::string obj_name_</div><div class="ttdoc">Object name.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00052">position_condition.h:52</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/position__condition_8h.html b/doc/html/position__condition_8h.html
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: position_condition.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');
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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_667ff67bcf6db6b92614eeda031ac18f.html">bt</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">position_condition.h File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include <ros/ros.h></code><br />
+<code>#include <behaviortree_cpp_v3/behavior_tree.h></code><br />
+<code>#include <behaviortree_cpp_v3/tree_node.h></code><br />
+<code>#include <behaviortree_cpp_v3/basic_types.h></code><br />
+<code>#include <behaviortree_cpp_v3/leaf_node.h></code><br />
+<code>#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.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 />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for position_condition.h:</div>
+<div class="dyncontent">
+<div class="center"><img src="position__condition_8h__incl.png" border="0" usemap="#position__condition_8h" alt=""/></div>
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+<p><a href="position__condition_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="classPositionCondition.html">PositionCondition</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classPositionCondition.html" title="PositionCondition Node.">PositionCondition</a> Node. <a href="classPositionCondition.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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: position_condition.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>
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+<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_667ff67bcf6db6b92614eeda031ac18f.html">bt</a></li> </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">position_condition.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="position__condition_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 POSITION_CONDITION_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define POSITION_CONDITION_</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 <behaviortree_cpp_v3/behavior_tree.h></span></div>
+<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <behaviortree_cpp_v3/tree_node.h></span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <behaviortree_cpp_v3/basic_types.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <behaviortree_cpp_v3/leaf_node.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <moveit/planning_scene_interface/planning_scene_interface.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <moveit/move_group_interface/move_group_interface.h></span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <moveit_msgs/ApplyPlanningScene.h></span></div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <moveit/robot_model_loader/robot_model_loader.h></span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <moveit/planning_scene/planning_scene.h></span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <moveit/kinematic_constraints/utils.h></span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classPositionCondition.html"> 21</a></span> <span class="keyword">class </span><a class="code" href="classPositionCondition.html">PositionCondition</a> : <span class="keyword">public</span> BT::ConditionNode {</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"> 23</span>  </div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <a class="code" href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition</a>(<span class="keyword">const</span> std::string& name, <span class="keyword">const</span> BT::NodeConfiguration& config);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
+<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordtype">void</span> <a class="code" href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">init</a>(<span class="keyword">const</span> std::string& obj_name,tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi);</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d"> 40</a></span>  <span class="keyword">inline</span> <span class="keyword">static</span> BT::PortsList <a class="code" href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">providedPorts</a>() { <span class="keywordflow">return</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="keyword">protected</span>:</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">virtual</span> BT::NodeStatus <a class="code" href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">tick</a>() <span class="keyword">override</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"><a class="line" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d"> 52</a></span>  std::string <a class="code" href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">obj_name_</a>; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e"> 53</a></span>  moveit::planning_interface::PlanningSceneInterface* <a class="code" href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">psi_</a>; </div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e"> 54</a></span>  tf2::Vector3 <a class="code" href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">start_pos_</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"> 57</span> <span class="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassPositionCondition_html_a5aef5e00f9dfa8fc3b80bc1fa86b358e"><div class="ttname"><a href="classPositionCondition.html#a5aef5e00f9dfa8fc3b80bc1fa86b358e">PositionCondition::start_pos_</a></div><div class="ttdeci">tf2::Vector3 start_pos_</div><div class="ttdoc">Start position.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00054">position_condition.h:54</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_aff184773a2a27806790ed315f88eb8a3"><div class="ttname"><a href="classPositionCondition.html#aff184773a2a27806790ed315f88eb8a3">PositionCondition::tick</a></div><div class="ttdeci">virtual BT::NodeStatus tick() override</div><div class="ttdoc">tick function</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8cpp_source.html#l00012">position_condition.cpp:12</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_af8910f64e26617d23e971c29c127a88e"><div class="ttname"><a href="classPositionCondition.html#af8910f64e26617d23e971c29c127a88e">PositionCondition::psi_</a></div><div class="ttdeci">moveit::planning_interface::PlanningSceneInterface * psi_</div><div class="ttdoc">PSI.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00053">position_condition.h:53</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_a8aa99235865a84c7ce87576c17a7fc2d"><div class="ttname"><a href="classPositionCondition.html#a8aa99235865a84c7ce87576c17a7fc2d">PositionCondition::providedPorts</a></div><div class="ttdeci">static BT::PortsList providedPorts()</div><div class="ttdoc">Required port inferface.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00040">position_condition.h:40</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html"><div class="ttname"><a href="classPositionCondition.html">PositionCondition</a></div><div class="ttdoc">PositionCondition Node.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00021">position_condition.h:21</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_ad4c35d4df2ee3cb464c7cd394ef2e97b"><div class="ttname"><a href="classPositionCondition.html#ad4c35d4df2ee3cb464c7cd394ef2e97b">PositionCondition::PositionCondition</a></div><div class="ttdeci">PositionCondition(const std::string &name, const BT::NodeConfiguration &config)</div><div class="ttdoc">PositionCondition constructor.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8cpp_source.html#l00003">position_condition.cpp:3</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_ac75b50f2bf55d0a65c672143d0cada29"><div class="ttname"><a href="classPositionCondition.html#ac75b50f2bf55d0a65c672143d0cada29">PositionCondition::init</a></div><div class="ttdeci">void init(const std::string &obj_name, tf2::Vector3 &start_pos, moveit::planning_interface::PlanningSceneInterface *psi)</div><div class="ttdoc">Initialize Node.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8cpp_source.html#l00006">position_condition.cpp:6</a></div></div>
+<div class="ttc" id="aclassPositionCondition_html_a042c6ac7a28051aa0491058557985c1d"><div class="ttname"><a href="classPositionCondition.html#a042c6ac7a28051aa0491058557985c1d">PositionCondition::obj_name_</a></div><div class="ttdeci">std::string obj_name_</div><div class="ttdoc">Object name.</div><div class="ttdef"><b>Definition:</b> <a href="position__condition_8h_source.html#l00052">position_condition.h:52</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</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>
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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_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>
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-<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>
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-<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>
-<div class="line"><a name="l00010"></a><span class="lineno"> 10</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(0,0.8f*j,0))));</div>
-<div class="line"><a name="l00011"></a><span class="lineno"> 11</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,-0.8f*j,0))));</div>
-<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>
-<div class="line"><a name="l00013"></a><span class="lineno"> 13</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(0.8f*i,0,0))));</div>
-<div class="line"><a name="l00014"></a><span class="lineno"> 14</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(-0.8f*i,0,0))));</div>
-<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  } <span class="keywordflow">else</span> {</div>
-<div class="line"><a name="l00016"></a><span class="lineno"> 16</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(0.8f*i,0.8f*j,0))));</div>
-<div class="line"><a name="l00017"></a><span class="lineno"> 17</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(-0.8f*i,0.8f*j,0))));</div>
-<div class="line"><a name="l00018"></a><span class="lineno"> 18</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(0.8f*i,-0.8f*j,0))));</div>
-<div class="line"><a name="l00019"></a><span class="lineno"> 19</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(-0.8f*i,-0.8f*j,0))));</div>
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-<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>
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-<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>
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-<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>
diff --git a/doc/html/robot_8h.html b/doc/html/robot_8h.html
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--- a/doc/html/robot_8h.html
+++ /dev/null
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-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: robot.h File 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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-<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>
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-<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>
-<div class="dyncontent">
-<div class="center"><img src="robot_8h__incl.png" border="0" usemap="#robot_8h" alt=""/></div>
-<map name="robot_8h" id="robot_8h">
-<area shape="rect" title=" " alt="" coords="1865,5,1933,32"/>
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-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: robot.h Source File</title>
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-<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>
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-<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>
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diff --git a/doc/html/robot__base__calculation__approach_8cpp.html b/doc/html/robot__base__calculation__approach_8cpp.html
index ebf6aa25d4ffac9e9b813c50614cec200bc126c6..a7006895b143e6dabd16c8875d30344140013d73 100644
--- a/doc/html/robot__base__calculation__approach_8cpp.html
+++ b/doc/html/robot__base__calculation__approach_8cpp.html
@@ -36,66 +36,66 @@ $(function() {
<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="abstract__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="abstract__robot__element_8h_source.html">robot_element/abstract_robot_element.h</a>"</code><br />
+<code>#include "<a class="el" href="abstract__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="abstract__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">
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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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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<div class="title">robot_base_calculation_approach.cpp</div> </div>
</div><!--header-->
<div class="contents">
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-<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
+<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> <span class="preprocessor">#include <xmlrpcpp/XmlRpc.h></span></div>
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<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>
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-<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="l00025"></a><span class="lineno"><a class="line" href="robot__base__calculation__approach_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627"> 25</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="l00026"></a><span class="lineno"> 26</span>  ros::init(argc, argv, <span class="stringliteral">"robot_base_calculation_apprioach"</span>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::shared_ptr<ros::NodeHandle> n(<span class="keyword">new</span> ros::NodeHandle);</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::shared_ptr<AbstractBase> simple_base = std::make_shared<SimpleBase>(n);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  std::shared_ptr<AbstractBaseImplementation> simple_base_implementation = std::make_shared<SimpleBaseImplementation>();</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  std::shared_ptr<BaseCalculationMediator> mediator = std::make_shared<BaseCalculationMediator>(n);</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>  simple_base->setImplementation(simple_base_implementation);</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>  simple_base->baseCalculation();</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">auto</span> rd = mediator->robotReader()->robotData();</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < rd.size() ;i++){</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  mediator->connectRobots(std::move(ceti_panda));</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="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 class="line"><a name="l00044"></a><span class="lineno"> 44</span>  mediator->setResultVector(simple_base->result());</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">//mediator->set_dirname(filename);</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>  mediator->setPanel();</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>  mediator->mediate();</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">return</span> 0;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</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="aabstract__mediator_8h_html"><div class="ttname"><a href="abstract__mediator_8h.html">abstract_mediator.h</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="aabstract__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
<div class="ttc" id="aceti__robot_8h_html"><div class="ttname"><a href="ceti__robot_8h.html">ceti_robot.h</a></div></div>
-<div class="ttc" id="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="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#l00025">robot_base_calculation_approach.cpp:25</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>
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+<div class="ttc" id="aabstract__robot__element__decorator_8h_html"><div class="ttname"><a href="abstract__robot__element__decorator_8h.html">abstract_robot_element_decorator.h</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="aabstract__robot__element_8h_html"><div class="ttname"><a href="abstract__robot__element_8h.html">abstract_robot_element.h</a></div></div>
<div class="ttc" id="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>
@@ -155,7 +101,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/robot__element_2abstract__robot__element_8h__dep__incl.map b/doc/html/robot__element_2abstract__robot__element_8h__dep__incl.map
deleted file mode 100644
index 9daeed6f94cfb2b1a268e0c9f449564aec8f2542..0000000000000000000000000000000000000000
--- a/doc/html/robot__element_2abstract__robot__element_8h__dep__incl.map
+++ /dev/null
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-<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__dep__incl.map b/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h__dep__incl.map
deleted file mode 100644
index 5697ed182c34f7c982c2e1bfc89d22c442ff2945..0000000000000000000000000000000000000000
--- a/doc/html/robot__element_2decorators_2abstract__robot__element__decorator_8h__dep__incl.map
+++ /dev/null
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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>
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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_e1782fda4ea964ce2c8b2efbd0a26038.html">robot_element</a></li><li class="navelem"><a class="el" href="dir_a9a3966004e74d386e58ffd98a25c86a.html">decorators</a></li> </ul>
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-<div class="title">robot_element/decorators/abstract_robot_element_decorator.h</div> </div>
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-<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>
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-<br clear="all" />
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-<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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-<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 />
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-Classes</h2></td></tr>
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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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-</body>
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-<title>multi_cell_builder: field.h Source File</title>
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-<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>
diff --git a/doc/html/robot__reader_8cpp.html b/doc/html/robot__reader_8cpp.html
index 277a7081402b12d647136c985b5e0d16bb1c07a4..5068050d40984bf152aa0dce4a6e13f0cd3964ce 100644
--- a/doc/html/robot__reader_8cpp.html
+++ b/doc/html/robot__reader_8cpp.html
@@ -52,7 +52,7 @@ Include dependency graph for robot_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/robot__reader_8cpp_source.html b/doc/html/robot__reader_8cpp_source.html
index 19e5e57d0441799b1649c2fe23f7566197d40326..d69ea4d445526330306fa9396928b2702db87270 100644
--- a/doc/html/robot__reader_8cpp_source.html
+++ b/doc/html/robot__reader_8cpp_source.html
@@ -27,10 +27,10 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classRobotReader.html#aba15c6226bea558917c26490d5321690"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">RobotReader::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="l00006"></a><span class="lineno"> 6</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">nh_</a>->getParam(<span class="stringliteral">"/objects"</span>, resources);</div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  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>
@@ -44,39 +44,39 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div>
<div class="line"><a name="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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
<div class="line"><a name="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="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">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="aclassRobotReader_html_aba15c6226bea558917c26490d5321690"><div class="ttname"><a href="classRobotReader.html#aba15c6226bea558917c26490d5321690">RobotReader::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="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
<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>
+<div class="ttc" id="aclassRobotReader_html_af6ebed9f2bdc96aa0c786ad308e1bb22"><div class="ttname"><a href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">RobotReader::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="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/robot__reader_8h.html b/doc/html/robot__reader_8h.html
index e5ad58393d1fb4814501338bf240b346027255ab..9d02996ba502ad2ffbc248613e301fdcf04f8de1 100644
--- a/doc/html/robot__reader_8h.html
+++ b/doc/html/robot__reader_8h.html
@@ -53,17 +53,20 @@ 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>
<map name="robot__reader_8hdep" id="robot__reader_8hdep">
-<area shape="rect" title=" " alt="" coords="675,5,792,32"/>
-<area shape="rect" href="moveit__grasp__mediator_8h.html" title=" " alt="" coords="205,80,395,107"/>
-<area shape="rect" href="grasp__cell__routine_8cpp.html" title=" " alt="" coords="5,162,173,189"/>
-<area shape="rect" href="base__calculation__mediator_8h.html" title=" " alt="" coords="434,80,643,107"/>
-<area shape="rect" href="robot__base__calculation__approach_8cpp.html" title=" " alt="" coords="675,155,847,196"/>
-<area shape="rect" href="base__routine_8cpp.html" title=" " alt="" coords="719,80,852,107"/>
-<area shape="rect" href="cell__routine_8cpp.html" title=" " alt="" coords="876,80,1001,107"/>
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@@ -71,8 +74,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classRobotReader.html">RobotReader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Robot reader. <a href="classRobotReader.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -81,7 +84,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
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diff --git a/doc/html/robot__reader_8h_source.html b/doc/html/robot__reader_8h_source.html
index c28f8344a0c0f31b01d1e946ca07cdb6f85702b2..c88627827131c7a029807fef685cbf0d0df28c2c 100644
--- a/doc/html/robot__reader_8h_source.html
+++ b/doc/html/robot__reader_8h_source.html
@@ -36,38 +36,38 @@ $(function() {
<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="l00015"></a><span class="lineno"><a class="line" href="classRobotReader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classRobotReader.html">RobotReader</a> : <span class="keyword">public</span> <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>{</div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">protected</span>:</div>
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+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22"> 17</a></span>  std::vector<object_data> <a class="code" href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">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>
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<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>
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<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>
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<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="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">void</span> <a class="code" href="classRobotReader.html#aba15c6226bea558917c26490d5321690">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="aclassRobotReader_html_a4d52ecf97c0192307cc340203c29a036"><div class="ttname"><a href="classRobotReader.html#a4d52ecf97c0192307cc340203c29a036">RobotReader::robotData</a></div><div class="ttdeci">std::vector< object_data > robotData()</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>
+<div class="ttc" id="aclassRobotReader_html_a9e0259fb4a4d4a0e708cbac2f07baf7d"><div class="ttname"><a href="classRobotReader.html#a9e0259fb4a4d4a0e708cbac2f07baf7d">RobotReader::RobotReader</a></div><div class="ttdeci">RobotReader(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="aclassRobotReader_html_aba15c6226bea558917c26490d5321690"><div class="ttname"><a href="classRobotReader.html#aba15c6226bea558917c26490d5321690">RobotReader::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="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>
+<div class="ttc" id="aclassRobotReader_html_a6a37901b3e94eb461e7b16ed775be141"><div class="ttname"><a href="classRobotReader.html#a6a37901b3e94eb461e7b16ed775be141">RobotReader::setRobotData</a></div><div class="ttdeci">void setRobotData(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="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassRobotReader_html"><div class="ttname"><a href="classRobotReader.html">RobotReader</a></div><div class="ttdoc">Robot reader.</div><div class="ttdef"><b>Definition:</b> <a href="robot__reader_8h_source.html#l00015">robot_reader.h:15</a></div></div>
+<div class="ttc" id="aclassRobotReader_html_af6ebed9f2bdc96aa0c786ad308e1bb22"><div class="ttname"><a href="classRobotReader.html#af6ebed9f2bdc96aa0c786ad308e1bb22">RobotReader::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>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/rviz__panel_8cpp.html b/doc/html/rviz__panel_8cpp.html
index 205dcea620e499d796ce6131956ff13605076d7b..5eee7c09c82a36fd156e030dd7f18c3e03fe2da3 100644
--- a/doc/html/rviz__panel_8cpp.html
+++ b/doc/html/rviz__panel_8cpp.html
@@ -36,7 +36,7 @@ Include dependency graph for rviz_panel.cpp:</div>
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<area shape="rect" title=" " alt="" coords="108,348,307,375"/>
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@@ -48,7 +48,7 @@ Include dependency graph for rviz_panel.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/rviz__panel_8cpp__incl.map b/doc/html/rviz__panel_8cpp__incl.map
index ac0086af07d393a56a7ab7613521e449b2740f96..087f9e6f5a6b11c43e54fd8e2f4d23fba8328cd3 100644
--- a/doc/html/rviz__panel_8cpp__incl.map
+++ b/doc/html/rviz__panel_8cpp__incl.map
@@ -4,6 +4,6 @@
<area shape="rect" id="node3" title=" " alt="" coords="5,348,84,375"/>
<area shape="rect" id="node4" href="$panel_8h.html" title=" " alt="" coords="51,169,236,211"/>
<area shape="rect" id="node7" title=" " alt="" coords="261,169,407,211"/>
-<area shape="rect" id="node5" href="$robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="101,259,276,300"/>
+<area shape="rect" id="node5" href="$abstract__robot__element_8h.html" title=" " alt="" coords="101,259,276,300"/>
<area shape="rect" id="node6" title=" " alt="" coords="108,348,307,375"/>
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diff --git a/doc/html/rviz__panel_8cpp__incl.md5 b/doc/html/rviz__panel_8cpp__incl.md5
index 0ca332d20256c618d1918ae14869f5de217523f0..09ff091a06c3da2f48ecd3aaa237d913de8ffe4b 100644
--- a/doc/html/rviz__panel_8cpp__incl.md5
+++ b/doc/html/rviz__panel_8cpp__incl.md5
@@ -1 +1 @@
-549f0654ae9e4f49c986250758f75232
\ No newline at end of file
+8376e52e69f3a012a37876f77cba63df
\ No newline at end of file
diff --git a/doc/html/rviz__panel_8cpp_source.html b/doc/html/rviz__panel_8cpp_source.html
index 998254898da8049771a2d48c78d0d8c9605dcc03..2a0690a2f1a2dd865ade8c24e18e0ce91350cc3e 100644
--- a/doc/html/rviz__panel_8cpp_source.html
+++ b/doc/html/rviz__panel_8cpp_source.html
@@ -28,71 +28,71 @@ $(function() {
<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="l00004"></a><span class="lineno"><a class="line" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d"> 4</a></span> <a class="code" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel::RvizPanel</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="l00007"></a><span class="lineno"> 7</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">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="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.ns = <a class="code" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a>;</div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.id = 1;</div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.position.x = 0;</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.position.y = 0;</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.position.z = 0;</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.x = 0;</div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.y = 0;</div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.z = 0;</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.w = 1;</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.scale.x = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX();</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.scale.y = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getY();</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.scale.z = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getZ();</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.r = 1.0;</div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.g = 1.0;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.b = 1.0;</div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.a = 0.0; </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="l00029"></a><span class="lineno"><a class="line" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9"> 29</a></span> <span class="keywordtype">void</span> <a class="code" href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel::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="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">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="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.header.stamp = ros::Time();</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.ns = <a class="code" href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">name_</a>;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.id = 1;</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.type = visualization_msgs::Marker::CUBE;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.action = visualization_msgs::Marker::MODIFY;</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.position.x = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getOrigin().getX();</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.position.y = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getOrigin().getY();</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.position.z = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getOrigin().getZ() - <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getZ()/2;</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.x = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getX();</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.y = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getY();</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.z = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getZ();</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.pose.orientation.w = <a class="code" href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">world_tf_</a>.getRotation().getW();</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.scale.x = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getX();</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.scale.y = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getY();</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.scale.z = <a class="code" href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">size_</a>.getZ();</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.r = 1.0;</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.g = 1.0;</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">marker_</a>.color.b = 1.0;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="comment">// marker_.color.a = 1.0; </span></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="aclassAbstractRobotElement_html_a48a10e0425bb56cabf0dad275976bb76"><div class="ttname"><a href="classAbstractRobotElement.html#a48a10e0425bb56cabf0dad275976bb76">AbstractRobotElement::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00009">abstract_robot_element.h:9</a></div></div>
+<div class="ttc" id="aclassRvizPanel_html_acb11a187bf561058d60ca2e690fbef9b"><div class="ttname"><a href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">RvizPanel::marker_</a></div><div class="ttdeci">visualization_msgs::Marker marker_</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00012">rviz_panel.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="aclassRvizPanel_html_a0bfb2b948c121c007a549c6ce001383d"><div class="ttname"><a href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel::RvizPanel</a></div><div class="ttdeci">RvizPanel(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="aclassRvizPanel_html_afc044865a22941c0d353b1ad9bdf46b9"><div class="ttname"><a href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel::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="aclassAbstractRobotElement_html_a1304c7308731251e789ccfb9368a61f9"><div class="ttname"><a href="classAbstractRobotElement.html#a1304c7308731251e789ccfb9368a61f9">AbstractRobotElement::world_tf_</a></div><div class="ttdeci">tf2::Transform world_tf_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00011">abstract_robot_element.h:11</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>
+<div class="ttc" id="aclassAbstractRobotElement_html_ad9e7fd0d535253799855ad42f9ed7a52"><div class="ttname"><a href="classAbstractRobotElement.html#ad9e7fd0d535253799855ad42f9ed7a52">AbstractRobotElement::size_</a></div><div class="ttdeci">tf2::Vector3 size_</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__element_8h_source.html#l00012">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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/rviz__panel_8h.html b/doc/html/rviz__panel_8h.html
index 26691445497e19374d13cd2b7a1849cf2895bd7a..b6c40048a99b1aab4299791e7e640cb39964fddc 100644
--- a/doc/html/rviz__panel_8h.html
+++ b/doc/html/rviz__panel_8h.html
@@ -39,7 +39,7 @@ Include dependency graph for rviz_panel.h:</div>
<area shape="rect" title=" " alt="" coords="5,259,84,285"/>
<area shape="rect" href="panel_8h.html" title=" " alt="" coords="51,80,236,121"/>
<area shape="rect" title=" " alt="" coords="261,80,407,121"/>
-<area shape="rect" href="robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="101,169,276,211"/>
+<area shape="rect" href="abstract__robot__element_8h.html" title=" " alt="" coords="101,169,276,211"/>
<area shape="rect" title=" " alt="" coords="108,259,307,285"/>
</map>
</div>
@@ -60,7 +60,7 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classRvizPanel.html">RvizPanel</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -69,7 +69,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/rviz__panel_8h__incl.map b/doc/html/rviz__panel_8h__incl.map
index dd8840e08ee256df0098cadcfcef6732abf0fe10..e234afbc50d50fb1488ec956c1d2154565c3ba8b 100644
--- a/doc/html/rviz__panel_8h__incl.map
+++ b/doc/html/rviz__panel_8h__incl.map
@@ -3,6 +3,6 @@
<area shape="rect" id="node2" title=" " alt="" coords="5,259,84,285"/>
<area shape="rect" id="node3" href="$panel_8h.html" title=" " alt="" coords="51,80,236,121"/>
<area shape="rect" id="node6" title=" " alt="" coords="261,80,407,121"/>
-<area shape="rect" id="node4" href="$robot__element_2abstract__robot__element_8h.html" title=" " alt="" coords="101,169,276,211"/>
+<area shape="rect" id="node4" href="$abstract__robot__element_8h.html" title=" " alt="" coords="101,169,276,211"/>
<area shape="rect" id="node5" title=" " alt="" coords="108,259,307,285"/>
</map>
diff --git a/doc/html/rviz__panel_8h__incl.md5 b/doc/html/rviz__panel_8h__incl.md5
index 334e60ba5de2d1e9e2d5e77e8788db25b3dec2a2..4fefd81f579e3dcffceb743d891aafb41e24e4c3 100644
--- a/doc/html/rviz__panel_8h__incl.md5
+++ b/doc/html/rviz__panel_8h__incl.md5
@@ -1 +1 @@
-46352a1f3c53b4d4899d27d0c7d4128a
\ No newline at end of file
+efe68f97b3a8a140f607dd58a843194e
\ No newline at end of file
diff --git a/doc/html/rviz__panel_8h_source.html b/doc/html/rviz__panel_8h_source.html
index 9fff9311a75336a699ebf4cf78bb233b6e59e600..fcce0be4bbba4bf73a03d9f6b1c6033fda6011f5 100644
--- a/doc/html/rviz__panel_8h_source.html
+++ b/doc/html/rviz__panel_8h_source.html
@@ -34,27 +34,27 @@ $(function() {
<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="l00010"></a><span class="lineno"><a class="line" href="classRvizPanel.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classRvizPanel.html">RvizPanel</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="l00012"></a><span class="lineno"><a class="line" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b"> 12</a></span>  visualization_msgs::Marker <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">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="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel</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="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">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="l00018"></a><span class="lineno"><a class="line" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22"> 18</a></span>  <span class="keyword">inline</span> visualization_msgs::Marker& <a class="code" href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">marker</a>() {<span class="keywordflow">return</span> <a class="code" href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">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="aclassRvizPanel_html_acb11a187bf561058d60ca2e690fbef9b"><div class="ttname"><a href="classRvizPanel.html#acb11a187bf561058d60ca2e690fbef9b">RvizPanel::marker_</a></div><div class="ttdeci">visualization_msgs::Marker marker_</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00012">rviz_panel.h:12</a></div></div>
+<div class="ttc" id="aclassRvizPanel_html_a0bfb2b948c121c007a549c6ce001383d"><div class="ttname"><a href="classRvizPanel.html#a0bfb2b948c121c007a549c6ce001383d">RvizPanel::RvizPanel</a></div><div class="ttdeci">RvizPanel(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="aclassRvizPanel_html_afc044865a22941c0d353b1ad9bdf46b9"><div class="ttname"><a href="classRvizPanel.html#afc044865a22941c0d353b1ad9bdf46b9">RvizPanel::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="aclassRvizPanel_html_a0bdbda591a566ca44cc8f61d89011c22"><div class="ttname"><a href="classRvizPanel.html#a0bdbda591a566ca44cc8f61d89011c22">RvizPanel::marker</a></div><div class="ttdeci">visualization_msgs::Marker & marker()</div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00018">rviz_panel.h:18</a></div></div>
+<div class="ttc" id="aclassRvizPanel_html"><div class="ttname"><a href="classRvizPanel.html">RvizPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="rviz__panel_8h_source.html#l00010">rviz_panel.h:10</a></div></div>
<div class="ttc" id="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>
@@ -62,7 +62,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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@@ -62,7 +63,7 @@ Include dependency graph for simple_base.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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@@ -28,392 +28,127 @@ $(function() {
<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="l00004"></a><span class="lineno"><a class="line" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b"> 4</a></span> <a class="code" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase::SimpleBase</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="classAbstractBase.html">AbstractBase</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="classTSReader.html">TSReader</a>>(d))</div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  , map_reader_(std::make_unique<<a class="code" href="classMapReader.html">MapReader</a>>(d))</div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  {</div>
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<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>
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<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>
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<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="l00020"></a><span class="lineno"><a class="line" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc"> 20</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">SimpleBase::baseCalculation</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="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a>->setGraspOrientations(<a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">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="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a>->invMapCreation(<a class="code" href="classAbstractBase.html#a448dc5bc37511aba7c74fe3816ee12f3">map_</a>, <a class="code" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a>, <a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">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="l00029"></a><span class="lineno"> 29</span>  <a class="code" href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">implementation_</a>->cloudCalculation(<a class="code" href="classAbstractBase.html#a4d7b577f01558c9cc6bd773785980ed2">inv_map_</a>, <a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a>, <a class="code" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a>);</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  ROS_INFO(<span class="stringliteral">"=> clouds are formed..."</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="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 class="line"><a name="l00033"></a><span class="lineno"> 33</span>  ROS_INFO(<span class="stringliteral">"init voxel..."</span>);</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  std::vector<pcl::PointXYZ> voxelization = this-><a class="code" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">createPCLBox</a>();</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  std::map<const std::string, std::vector<std::vector<int>>> base_target_map;</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& ts: <a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a>){</div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  base_target_map.insert(std::pair<<span class="keyword">const</span> std::string, std::vector<std::vector<int>>>(ts.first, std::vector<std::vector<int>>(voxelization.size())));</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_INFO(<span class="stringliteral">"start cloud quantization..."</span>);</div>
+<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& s_vc: <a class="code" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a>){</div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</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="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a>.at(s_vc.first).size();j++){</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.2f);</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  octree.setInputCloud(<a class="code" href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">target_cloud_</a>.at(s_vc.first)[j]);</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  octree.addPointsFromInputCloud();</div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">double</span> min_x, min_y, min_z, max_x, max_y, max_z;</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  octree.getBoundingBox(min_x, min_y, min_z, max_x, max_y, max_z);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</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="l00050"></a><span class="lineno"> 50</span>  pcl::PointXYZ p = voxelization[k];</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</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="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">if</span>(isInBox && octree.isVoxelOccupiedAtPoint(p)) {</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  std::vector< int > pointIdxVec;</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">if</span>(octree.voxelSearch(p, pointIdxVec)) <span class="keywordflow">if</span>(!pointIdxVec.empty()) base_target_map.at(s_vc.first)[k].push_back(j);</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>  }</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& s_bv: base_target_map){</div>
+<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  std::vector<pcl::PointXYZ> points_per_robot;</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0; j < base_target_map.at(s_bv.first).size(); j++){</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">if</span> (base_target_map.at(s_bv.first)[j].size() == <a class="code" href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">task_space_</a>.at(s_bv.first).size()) {</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  points_per_robot.push_back(voxelization[j]);</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">if</span> (!points_per_robot.empty()) <a class="code" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a>.insert(std::pair<<span class="keyword">const</span> std::string, std::vector<pcl::PointXYZ>>(s_bv.first, points_per_robot));</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>  </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">for</span> (<span class="keyword">auto</span>& s_r: <a class="code" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a>) {</div>
+<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  ROS_INFO(<span class="stringliteral">"%s got %li base positions to ckeck"</span>, s_r.first.c_str(), <a class="code" href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">result_</a>.at(s_r.first).size());</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> }</div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db"> 78</a></span> std::vector<pcl::PointXYZ> <a class="code" href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">AbstractBase::createPCLBox</a>(){</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  tf2::Vector3 origin(0,0,0);</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">float</span> resolution = 0.4f;</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">float</span> diameter = 3.0f;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> depth = 16;</div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  std::vector<pcl::PointXYZ> box; </div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  octomap::OcTree* tree = <span class="keyword">new</span> octomap::OcTree(resolution/2);</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</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="l00086"></a><span class="lineno"> 86</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="l00087"></a><span class="lineno"> 87</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="l00088"></a><span class="lineno"> 88</span>  octomap::point3d point(x,y,z);</div>
+<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  tree->updateNode(point, <span class="keyword">true</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>  <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="l00095"></a><span class="lineno"> 95</span>  pcl::PointXYZ searchPoint(it.getCoordinate().x(), it.getCoordinate().y(), it.getCoordinate().z());</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  box.push_back(searchPoint);</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"> 99</span>  <span class="keywordflow">return</span> box;</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> }</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>
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-<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="aclassTSReader_html"><div class="ttname"><a href="classTSReader.html">TSReader</a></div><div class="ttdoc">TS reader.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00015">ts_reader.h:15</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_aabdd4fed67cfd7af450c01ea3f807f5d"><div class="ttname"><a href="classAbstractBase.html#aabdd4fed67cfd7af450c01ea3f807f5d">AbstractBase::implementation_</a></div><div class="ttdeci">std::shared_ptr< AbstractBaseImplementation > implementation_</div><div class="ttdoc">refined implementation</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00037">abstract_base.h:37</a></div></div>
+<div class="ttc" id="aclassSimpleBase_html_a5c645a035d9ad25bd59687dafbafeb8d"><div class="ttname"><a href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">SimpleBase::map_reader_</a></div><div class="ttdeci">std::unique_ptr< MapReader > map_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00027">simple_base.h:27</a></div></div>
+<div class="ttc" id="aclassSimpleBase_html_a7d5fa1a8181044fafc02b414720bca1b"><div class="ttname"><a href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase::SimpleBase</a></div><div class="ttdeci">SimpleBase(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="aclassMapReader_html"><div class="ttname"><a href="classMapReader.html">MapReader</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="aclassAbstractBase_html_a37a6df1710f8fc49e933bfb40a0e5833"><div class="ttname"><a href="classAbstractBase.html#a37a6df1710f8fc49e933bfb40a0e5833">AbstractBase::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#l00032">abstract_base.h:32</a></div></div>
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+<div class="ttc" id="aclassAbstractBase_html"><div class="ttname"><a href="classAbstractBase.html">AbstractBase</a></div><div class="ttdoc">AbstractBaseClass.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00027">abstract_base.h:27</a></div></div>
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+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="aclassAbstractBase_html_a3f32391c670c3ce6d2e8e1506b6fdee9"><div class="ttname"><a href="classAbstractBase.html#a3f32391c670c3ce6d2e8e1506b6fdee9">AbstractBase::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#l00033">abstract_base.h:33</a></div></div>
+<div class="ttc" id="aclassAbstractBase_html_a5b533569dfc28bac7fa8b535e57e81db"><div class="ttname"><a href="classAbstractBase.html#a5b533569dfc28bac7fa8b535e57e81db">AbstractBase::createPCLBox</a></div><div class="ttdeci">static std::vector< pcl::PointXYZ > createPCLBox()</div><div class="ttdoc">createPCLBox box</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8cpp_source.html#l00078">simple_base.cpp:78</a></div></div>
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+<div class="ttc" id="aclassAbstractBase_html_a97cc32b484ddbe12765c7fcba6860b85"><div class="ttname"><a href="classAbstractBase.html#a97cc32b484ddbe12765c7fcba6860b85">AbstractBase::result_</a></div><div class="ttdeci">std::map< const std::string, std::vector< pcl::PointXYZ > > result_</div><div class="ttdoc">Result basepositions, mapped to robot.</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="asimple__base_8h_html"><div class="ttname"><a href="simple__base_8h.html">simple_base.h</a></div></div>
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<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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
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@@ -27,10 +27,10 @@ $(function() {
<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 />
+<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 <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 />
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@@ -80,8 +81,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBase.html">SimpleBase</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classSimpleBase.html" title="SimpleBase as refinement of AbstractBase.">SimpleBase</a> as refinement of <a class="el" href="classAbstractBase.html" title="AbstractBaseClass.">AbstractBase</a>. <a href="classSimpleBase.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -90,7 +91,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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+++ b/doc/html/simple__base_8h__incl.md5
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index 521e3aa4bc276cf61da927d943987362f4c4121b..013dc723fb4bf741ccc34820db6e0dbfc3b63885 100644
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diff --git a/doc/html/simple__base_8h_source.html b/doc/html/simple__base_8h_source.html
index 6aaaa989a4ae9bff4f1337c3dada7e390f3a68b1..e9efce1ea9807a1d26e23fd671cd8ba18b2991af 100644
--- a/doc/html/simple__base_8h_source.html
+++ b/doc/html/simple__base_8h_source.html
@@ -28,57 +28,51 @@ $(function() {
<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="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="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <octomap/octomap.h></span></div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
+<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <pcl/octree/octree.h></span></div>
+<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <ros/package.h></span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <yaml-cpp/yaml.h></span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
-<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <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="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 "<a class="code" href="abstract__base_8h.html">bridge/abstract_base.h</a>"</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</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="l00017"></a><span class="lineno"> 17</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="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="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="l00024"></a><span class="lineno"><a class="line" href="classSimpleBase.html"> 24</a></span> <span class="keyword">class </span><a class="code" href="classSimpleBase.html">SimpleBase</a> : <span class="keyword">public</span> <a class="code" href="classAbstractBase.html">AbstractBase</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="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d"> 26</a></span>  std::unique_ptr<TSReader> <a class="code" href="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d">task_space_reader_</a>; </div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d"> 27</a></span>  std::unique_ptr<MapReader> <a class="code" href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">map_reader_</a>; </div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keyword">public</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"> 34</span>  <a class="code" href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d);</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="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 class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">void</span> <a class="code" href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">baseCalculation</a>() <span class="keyword">override</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="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="aclassSimpleBase_html_a5c645a035d9ad25bd59687dafbafeb8d"><div class="ttname"><a href="classSimpleBase.html#a5c645a035d9ad25bd59687dafbafeb8d">SimpleBase::map_reader_</a></div><div class="ttdeci">std::unique_ptr< MapReader > map_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00027">simple_base.h:27</a></div></div>
+<div class="ttc" id="aclassSimpleBase_html_a7d5fa1a8181044fafc02b414720bca1b"><div class="ttname"><a href="classSimpleBase.html#a7d5fa1a8181044fafc02b414720bca1b">SimpleBase::SimpleBase</a></div><div class="ttdeci">SimpleBase(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="aclassSimpleBase_html_aa68fcc1f705cf2672fb85d311315e9fc"><div class="ttname"><a href="classSimpleBase.html#aa68fcc1f705cf2672fb85d311315e9fc">SimpleBase::baseCalculation</a></div><div class="ttdeci">void baseCalculation() 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="aclassAbstractBase_html"><div class="ttname"><a href="classAbstractBase.html">AbstractBase</a></div><div class="ttdoc">AbstractBaseClass.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base_8h_source.html#l00027">abstract_base.h:27</a></div></div>
+<div class="ttc" id="aclassSimpleBase_html"><div class="ttname"><a href="classSimpleBase.html">SimpleBase</a></div><div class="ttdoc">SimpleBase as refinement of AbstractBase.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00024">simple_base.h:24</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>
+<div class="ttc" id="aclassSimpleBase_html_a20f8a0f1ab5aae0aea912c1ffea6019d"><div class="ttname"><a href="classSimpleBase.html#a20f8a0f1ab5aae0aea912c1ffea6019d">SimpleBase::task_space_reader_</a></div><div class="ttdeci">std::unique_ptr< TSReader > task_space_reader_</div><div class="ttdef"><b>Definition:</b> <a href="simple__base_8h_source.html#l00026">simple_base.h:26</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/simple__base__implementation_8cpp.html b/doc/html/simple__base__implementation_8cpp.html
index e029a3c176a720b645088bc053aec0eaecbff501..1b4c6707f2c22b0640741b9eead9e468f63f8fcf 100644
--- a/doc/html/simple__base__implementation_8cpp.html
+++ b/doc/html/simple__base__implementation_8cpp.html
@@ -31,24 +31,25 @@ Include dependency graph for simple_base_implementation.cpp:</div>
<div class="dyncontent">
<div class="center"><img src="simple__base__implementation_8cpp__incl.png" border="0" usemap="#simple__base__implementation_8cpp" alt=""/></div>
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</div>
</div>
@@ -59,7 +60,7 @@ Include dependency graph for simple_base_implementation.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/simple__base__implementation_8cpp__incl.map b/doc/html/simple__base__implementation_8cpp__incl.map
index 4d7ea22f7a4b2c0ff5509dcc34713d74c445a10e..b376fea7257dd14719595dd5196e76f81090a59f 100644
--- a/doc/html/simple__base__implementation_8cpp__incl.map
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+++ b/doc/html/simple__base__implementation_8cpp_source.html
@@ -27,7 +27,7 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">SimpleBaseImplementation::setGraspOrientations</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>
@@ -40,7 +40,7 @@ $(function() {
<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="l00016"></a><span class="lineno"><a class="line" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764"> 16</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">SimpleBaseImplementation::invMapCreation</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>
@@ -58,50 +58,49 @@ $(function() {
<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 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="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4"> 35</a></span> <span class="keywordtype">void</span> <a class="code" href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">SimpleBaseImplementation::cloudCalculation</a>(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, std::map<<span class="keyword">const</span> std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& target_cloud){</div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  ROS_INFO(<span class="stringliteral">"initialyze thread implementations..."</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="keywordflow">for</span>(<span class="keyword">auto</span>& s_od_q: task_space) {</div>
+<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr> clouds;</div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& od_q: s_od_q.second) {</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  clouds.push_back(pcl::PointCloud< pcl::PointXYZ >::Ptr(<span class="keyword">new</span> pcl::PointCloud< pcl::PointXYZ >));</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>  target_cloud.insert(std::pair<<span class="keyword">const</span> std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>(s_od_q.first, clouds));</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>  ROS_INFO(<span class="stringliteral">"start [cloud] calculation..."</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>  tf2::Transform root(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0,0.4425f));</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="keywordflow">for</span>(<span class="keyword">auto</span>& s_c: target_cloud){</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i < s_c.second.size();i++){</div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& itf : inv_map){</div>
+<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span>& r: task_space.at(s_c.first)[i].second){</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  tf2::Transform target(r, task_space.at(s_c.first)[i].first.pose_.getOrigin());</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  tf2::Transform base = target * (itf * root);</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  s_c.second[i]->push_back(pcl::PointXYZ(base.getOrigin().getX(), base.getOrigin().getY(), base.getOrigin().getZ()));</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"> 61</span>  </div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  ROS_INFO(<span class="stringliteral">"[cloud]calculation done..."</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><!-- 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="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="aclassSimpleBaseImplementation_html_a50b685cbb8945c3bb10797395f736fa4"><div class="ttname"><a href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">SimpleBaseImplementation::cloudCalculation</a></div><div class="ttdeci">void cloudCalculation(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</div><div class="ttdoc">PCL Cloud calculation for every Object.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8cpp_source.html#l00035">simple_base_implementation.cpp:35</a></div></div>
+<div class="ttc" id="aclassSimpleBaseImplementation_html_a01ed078d57af3369aa62821d05c80793"><div class="ttname"><a href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">SimpleBaseImplementation::setGraspOrientations</a></div><div class="ttdeci">void setGraspOrientations(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="aclassSimpleBaseImplementation_html_aa61dd8b1ab3813801598e691f08c1764"><div class="ttname"><a href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">SimpleBaseImplementation::invMapCreation</a></div><div class="ttdeci">void invMapCreation(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="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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
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@@ -69,8 +70,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classSimpleBaseImplementation.html">SimpleBaseImplementation</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classSimpleBaseImplementation.html" title="SimpleBaseImplementation as refinement of AbstractBaseImplementation.">SimpleBaseImplementation</a> as refinement of <a class="el" href="classAbstractBaseImplementation.html" title="Abstract base implementation.">AbstractBaseImplementation</a>. <a href="classSimpleBaseImplementation.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</div><!-- contents -->
@@ -79,7 +80,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
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diff --git a/doc/html/simple__base__implementation_8h_source.html b/doc/html/simple__base__implementation_8h_source.html
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+++ b/doc/html/simple__base__implementation_8h_source.html
@@ -29,46 +29,46 @@ $(function() {
<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>
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-<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
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+<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__base__implementation_8h.html">bridge/abstract_base_implementation.h</a>"</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="abstract__base_8h.html">bridge/abstract_base.h</a>"</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
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-<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
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-<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
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+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
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+<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="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">void</span> <a class="code" href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">invMapCreation</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="l00033"></a><span class="lineno"> 33</span>  </div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
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+<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"> 42</span>  </div>
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-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno"> 43</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="aclassSimpleBaseImplementation_html"><div class="ttname"><a href="classSimpleBaseImplementation.html">SimpleBaseImplementation</a></div><div class="ttdoc">SimpleBaseImplementation as refinement of AbstractBaseImplementation.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8h_source.html#l00013">simple_base_implementation.h:13</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>
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-<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="aclassSimpleBaseImplementation_html_ae0ebda1d0ec6d77eec3a48c99b3ede2d"><div class="ttname"><a href="classSimpleBaseImplementation.html#ae0ebda1d0ec6d77eec3a48c99b3ede2d">SimpleBaseImplementation::SimpleBaseImplementation</a></div><div class="ttdeci">SimpleBaseImplementation()=default</div></div>
+<div class="ttc" id="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="aclassSimpleBaseImplementation_html_a50b685cbb8945c3bb10797395f736fa4"><div class="ttname"><a href="classSimpleBaseImplementation.html#a50b685cbb8945c3bb10797395f736fa4">SimpleBaseImplementation::cloudCalculation</a></div><div class="ttdeci">void cloudCalculation(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</div><div class="ttdoc">PCL Cloud calculation for every Object.</div><div class="ttdef"><b>Definition:</b> <a href="simple__base__implementation_8cpp_source.html#l00035">simple_base_implementation.cpp:35</a></div></div>
+<div class="ttc" id="aclassSimpleBaseImplementation_html_a01ed078d57af3369aa62821d05c80793"><div class="ttname"><a href="classSimpleBaseImplementation.html#a01ed078d57af3369aa62821d05c80793">SimpleBaseImplementation::setGraspOrientations</a></div><div class="ttdeci">void setGraspOrientations(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="aclassSimpleBaseImplementation_html_aa61dd8b1ab3813801598e691f08c1764"><div class="ttname"><a href="classSimpleBaseImplementation.html#aa61dd8b1ab3813801598e691f08c1764">SimpleBaseImplementation::invMapCreation</a></div><div class="ttdeci">void invMapCreation(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="aclassAbstractBaseImplementation_html"><div class="ttname"><a href="classAbstractBaseImplementation.html">AbstractBaseImplementation</a></div><div class="ttdoc">Abstract base implementation.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__base__implementation_8h_source.html#l00012">abstract_base_implementation.h:12</a></div></div>
+<div class="ttc" id="aclassSimpleBaseImplementation_html_abef728d9bb7d66be54f1350dc8196e94"><div class="ttname"><a href="classSimpleBaseImplementation.html#abef728d9bb7d66be54f1350dc8196e94">SimpleBaseImplementation::~SimpleBaseImplementation</a></div><div class="ttdeci">~SimpleBaseImplementation()=default</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/structjob__data-members.html b/doc/html/structjob__data-members.html
index 2af9fb57fda0ec4cc4170bb8ce400a22dd42ae0c..865c4ff795dddce3b69056bef0f7a193abcc3775 100644
--- a/doc/html/structjob__data-members.html
+++ b/doc/html/structjob__data-members.html
@@ -31,7 +31,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/structjob__data.html b/doc/html/structjob__data.html
index ef63508c2cb2e1ed2dfbde89172cf59fec994486..0e23084f3e1e07a0ed2600ffa4da28f9003d4ed3 100644
--- a/doc/html/structjob__data.html
+++ b/doc/html/structjob__data.html
@@ -25,6 +25,9 @@ $(function() {
</div><!--header-->
<div class="contents">
+<p>Job data.
+ <a href="structjob__data.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>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
@@ -33,8 +36,9 @@ Public Attributes</h2></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 class="textblock"><p>Job data. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00021">21</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>
@@ -48,7 +52,7 @@ Public Attributes</h2></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>
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00022">22</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
</div>
</div>
@@ -61,7 +65,7 @@ Public Attributes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/structobject__data-members.html b/doc/html/structobject__data-members.html
index 85ba59dfbb9736d5bf84b41b2851c34868c0738b..ba2e4d9635e73bca63f90a6354a0f9507d635a6f 100644
--- a/doc/html/structobject__data-members.html
+++ b/doc/html/structobject__data-members.html
@@ -33,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/structobject__data.html b/doc/html/structobject__data.html
index 013947f75d577bec52081855d548e1e6df9f31de..461d153b2045e18a44ca3682e3f6d17365131f5f 100644
--- a/doc/html/structobject__data.html
+++ b/doc/html/structobject__data.html
@@ -25,6 +25,9 @@ $(function() {
</div><!--header-->
<div class="contents">
+<p>Object data.
+ <a href="structobject__data.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>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
@@ -37,8 +40,9 @@ Public Attributes</h2></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 class="textblock"><p>Object data. </p>
+
+<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><h2 class="groupheader">Member Data Documentation</h2>
<a id="a048099bcb764a005e050ef51bdb6b308"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a048099bcb764a005e050ef51bdb6b308">◆ </a></span>name_</h2>
@@ -52,7 +56,7 @@ Public Attributes</h2></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>
+<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>
@@ -68,7 +72,7 @@ Public Attributes</h2></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>
+<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>
@@ -84,7 +88,7 @@ Public Attributes</h2></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>
+<p class="definition">Definition at line <a class="el" href="abstract__param__reader_8h_source.html#l00017">17</a> of file <a class="el" href="abstract__param__reader_8h_source.html">abstract_param_reader.h</a>.</p>
</div>
</div>
@@ -97,7 +101,7 @@ Public Attributes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/classCollision__helper-members.html b/doc/html/structprotobuf__entry-members.html
similarity index 52%
rename from doc/html/classCollision__helper-members.html
rename to doc/html/structprotobuf__entry-members.html
index 8ae057b41be29d426a185a391dc22c6f800dbde7..411ef6bbd207ca801ae33c61703c7717540c05aa 100644
--- a/doc/html/classCollision__helper-members.html
+++ b/doc/html/structprotobuf__entry-members.html
@@ -18,22 +18,22 @@ $(function() {
</div><!-- top -->
<div class="header">
<div class="headertitle">
-<div class="title">Collision_helper Member List</div> </div>
+<div class="title">protobuf_entry 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>
+<p>This is the complete list of members for <a class="el" href="structprotobuf__entry.html">protobuf_entry</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>
+ <tr class="even"><td class="entry"><a class="el" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">name_</a></td><td class="entry"><a class="el" href="structprotobuf__entry.html">protobuf_entry</a></td><td class="entry"></td></tr>
+ <tr><td class="entry"><a class="el" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">tf_</a></td><td class="entry"><a class="el" href="structprotobuf__entry.html">protobuf_entry</a></td><td class="entry"></td></tr>
+ <tr class="even"><td class="entry"><a class="el" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">wing_config_</a></td><td class="entry"><a class="el" href="structprotobuf__entry.html">protobuf_entry</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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/structprotobuf__entry.html b/doc/html/structprotobuf__entry.html
new file mode 100644
index 0000000000000000000000000000000000000000..1f05c5b65ace6d88f6d1def5a908f1ed212c8138
--- /dev/null
+++ b/doc/html/structprotobuf__entry.html
@@ -0,0 +1,107 @@
+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: protobuf_entry 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="structprotobuf__entry-members.html">List of all members</a> </div>
+ <div class="headertitle">
+<div class="title">protobuf_entry Struct Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Protobuf entry.
+ <a href="structprotobuf__entry.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__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:a44e08c6e54f4bdd1317f6df29175230b"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="structprotobuf__entry.html#a44e08c6e54f4bdd1317f6df29175230b">name_</a></td></tr>
+<tr class="separator:a44e08c6e54f4bdd1317f6df29175230b"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ac556a276e962d022fd32dcbdd50cd0c8"><td class="memItemLeft" align="right" valign="top">tf2::Transform </td><td class="memItemRight" valign="bottom"><a class="el" href="structprotobuf__entry.html#ac556a276e962d022fd32dcbdd50cd0c8">tf_</a></td></tr>
+<tr class="separator:ac556a276e962d022fd32dcbdd50cd0c8"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a58a9c2211f7cbe40929516dbbed73058"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structprotobuf__entry.html#a58a9c2211f7cbe40929516dbbed73058">wing_config_</a></td></tr>
+<tr class="separator:a58a9c2211f7cbe40929516dbbed73058"><td class="memSeparator" colspan="2"> </td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Protobuf entry. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00031">31</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a44e08c6e54f4bdd1317f6df29175230b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a44e08c6e54f4bdd1317f6df29175230b">◆ </a></span>name_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">std::string protobuf_entry::name_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00032">32</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="ac556a276e962d022fd32dcbdd50cd0c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac556a276e962d022fd32dcbdd50cd0c8">◆ </a></span>tf_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">tf2::Transform protobuf_entry::tf_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00033">33</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<a id="a58a9c2211f7cbe40929516dbbed73058"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58a9c2211f7cbe40929516dbbed73058">◆ </a></span>wing_config_</h2>
+
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">int protobuf_entry::wing_config_</td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00034">34</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li><a class="el" href="abstract__mediator_8h_source.html">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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
diff --git a/doc/html/structwing__BP-members.html b/doc/html/structwing__BP-members.html
index 996de5259aa34594d30ede48f3c5779a29a93ec6..359c8788a08aa5886d82ed05eed5de30162723a1 100644
--- a/doc/html/structwing__BP-members.html
+++ b/doc/html/structwing__BP-members.html
@@ -33,7 +33,7 @@ $(function() {
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/structwing__BP.html b/doc/html/structwing__BP.html
index 9199a04e81a863c8aab0369f8c80119bbde51ae0..1424a81bd93a225d7091105ce97e6ae5c68713a4 100644
--- a/doc/html/structwing__BP.html
+++ b/doc/html/structwing__BP.html
@@ -25,7 +25,10 @@ $(function() {
</div><!--header-->
<div class="contents">
-<p><code>#include <<a class="el" href="impl_2abstract__mediator_8h_source.html">abstract_mediator.h</a>></code></p>
+<p>Blueprint of panel data.
+ <a href="structwing__BP.html#details">More...</a></p>
+
+<p><code>#include <<a class="el" href="abstract__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>
@@ -37,8 +40,9 @@ Public Attributes</h2></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 class="textblock"><p>Blueprint of panel data. </p>
+
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00024">24</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
</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>
@@ -52,7 +56,7 @@ Public Attributes</h2></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>
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00025">25</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
</div>
</div>
@@ -68,7 +72,7 @@ Public Attributes</h2></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>
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00026">26</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
</div>
</div>
@@ -84,12 +88,12 @@ Public Attributes</h2></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>
+<p class="definition">Definition at line <a class="el" href="abstract__mediator_8h_source.html#l00027">27</a> of file <a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a>.</p>
</div>
</div>
<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>
+<li><a class="el" href="abstract__mediator_8h_source.html">abstract_mediator.h</a></li>
</ul>
</div><!-- contents -->
@@ -97,7 +101,7 @@ Public Attributes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/task__space__reader_8cpp.html b/doc/html/task__space__reader_8cpp.html
index be159cb116063d92e9abc119f6b88e08f2098898..61a30b060b453b48038d537d351819c69530cc9c 100644
--- a/doc/html/task__space__reader_8cpp.html
+++ b/doc/html/task__space__reader_8cpp.html
@@ -52,7 +52,7 @@ Include dependency graph for task_space_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/task__space__reader_8cpp_source.html b/doc/html/task__space__reader_8cpp_source.html
index d6d70348948e73211520cd0d0799df994d3283e7..d9b4a26de1a3a9988f59d4ec596584e549905c51 100644
--- a/doc/html/task__space__reader_8cpp_source.html
+++ b/doc/html/task__space__reader_8cpp_source.html
@@ -28,12 +28,12 @@ $(function() {
<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="l00004"></a><span class="lineno"><a class="line" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478"> 4</a></span> <span class="keywordtype">void</span> <a class="code" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">TaskSpaceReader::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="l00009"></a><span class="lineno"> 9</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">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>
@@ -71,9 +71,9 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"z"</span>])) :pos.setZ(0);</div>
<div class="line"><a name="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>
@@ -100,16 +100,16 @@ $(function() {
<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="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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="aclassTaskSpaceReader_html_aa1110ad6de4a3565b484f1026b15a478"><div class="ttname"><a href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">TaskSpaceReader::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="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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/task__space__reader_8h.html b/doc/html/task__space__reader_8h.html
index 7f795500141c3592a616c4168d1236883772eab5..bcfc9aab099cfdec6730caaf990f3ec394eb5b13 100644
--- a/doc/html/task__space__reader_8h.html
+++ b/doc/html/task__space__reader_8h.html
@@ -63,8 +63,8 @@ This graph shows which files directly or indirectly include this file:</div>
<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="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classTaskSpaceReader.html">TaskSpaceReader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Task space reader. <a href="classTaskSpaceReader.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table>
</div><!-- contents -->
@@ -73,7 +73,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/task__space__reader_8h_source.html b/doc/html/task__space__reader_8h_source.html
index 833d34fce1b409739b6d49043aa0f9d50a410f3b..d1b031a44d0ce62a9605172e4f3a64a4c7e4f424 100644
--- a/doc/html/task__space__reader_8h_source.html
+++ b/doc/html/task__space__reader_8h_source.html
@@ -36,26 +36,26 @@ $(function() {
<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="l00015"></a><span class="lineno"><a class="line" href="classTaskSpaceReader.html"> 15</a></span> <span class="keyword">class </span><a class="code" href="classTaskSpaceReader.html">TaskSpaceReader</a> : <span class="keyword">public</span> <a class="code" href="classAbstractParamReader.html">AbstractParamReader</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="l00022"></a><span class="lineno"><a class="line" href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457"> 22</a></span>  <a class="code" href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">TaskSpaceReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>(d){<a class="code" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">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="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">void</span> <a class="code" href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">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>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassTaskSpaceReader_html"><div class="ttname"><a href="classTaskSpaceReader.html">TaskSpaceReader</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="aclassTaskSpaceReader_html_aa1110ad6de4a3565b484f1026b15a478"><div class="ttname"><a href="classTaskSpaceReader.html#aa1110ad6de4a3565b484f1026b15a478">TaskSpaceReader::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="aclassTaskSpaceReader_html_a0201cd05a97b033a0328c16a1a38b457"><div class="ttname"><a href="classTaskSpaceReader.html#a0201cd05a97b033a0328c16a1a38b457">TaskSpaceReader::TaskSpaceReader</a></div><div class="ttdeci">TaskSpaceReader(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>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/ts__reader_8cpp.html b/doc/html/ts__reader_8cpp.html
index 9f8554a9876fda73d02d68c5fdb70f802c32832e..be9dc7b464d9c4c6113b59a9785ed664704e2f42 100644
--- a/doc/html/ts__reader_8cpp.html
+++ b/doc/html/ts__reader_8cpp.html
@@ -52,7 +52,7 @@ Include dependency graph for ts_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/ts__reader_8cpp_source.html b/doc/html/ts__reader_8cpp_source.html
index 78c432834fc1e5f140763d0ecab3c81c97d14190..4f67b3642082c6eca70681ff68872f6c58faa07c 100644
--- a/doc/html/ts__reader_8cpp_source.html
+++ b/doc/html/ts__reader_8cpp_source.html
@@ -27,91 +27,88 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">TSReader::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="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">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>  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="l00007"></a><span class="lineno"> 7</span>  std::vector<object_data> robot_middle;</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  std::vector<object_data>* robot_pointer = <span class="keyword">nullptr</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>  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="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  std::regex rx(<span class="stringliteral">"table([0-9]+)_table_top"</span>);</div>
+<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  std::smatch match;</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="l00014"></a><span class="lineno"> 14</span>  ROS_INFO(<span class="stringliteral">"--- TASK_SPACE_READER ---"</span>);</div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  std::map<const std::string, std::vector<object_data>> map;</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 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 str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keywordflow">if</span> (std::regex_match(str, match, rx)){</div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  ss << <span class="stringliteral">"panda_arm"</span> << match[1].str().c_str();</div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</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="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="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < resources.size(); i++){</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</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="l00028"></a><span class="lineno"> 28</span>  std::string str = resources[i][<span class="stringliteral">"id"</span>];</div>
+<div class="line"><a name="l00029"></a><span class="lineno"> 29</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="l00030"></a><span class="lineno"> 30</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="l00031"></a><span class="lineno"> 31</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="l00032"></a><span class="lineno"> 32</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="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'E'</span>) robot_pointer = &robot_middle;</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span>(str[0] == <span class="charliteral">'F'</span>) robot_pointer = &robot_middle;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</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="l00036"></a><span class="lineno"> 36</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="l00037"></a><span class="lineno"> 37</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="l00038"></a><span class="lineno"> 38</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="l00039"></a><span class="lineno"> 39</span>  </div>
+<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">if</span> (robot_pointer){</div>
+<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  tf2::Vector3 pos(0,0,0);</div>
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+<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tf2::Vector3 size(0,0,0);</div>
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+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
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+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
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</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>
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-<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="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassTSReader_html_ada36eead572d86a77bc8fed723090079"><div class="ttname"><a href="classTSReader.html#ada36eead572d86a77bc8fed723090079">TSReader::setDropOffData</a></div><div class="ttdeci">void setDropOffData(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="astructobject__data_html"><div class="ttname"><a href="structobject__data.html">object_data</a></div><div class="ttdoc">Object data.</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="ats__reader_8h_html"><div class="ttname"><a href="ts__reader_8h.html">ts_reader.h</a></div></div>
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-<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="aclassTSReader_html_a691b97a848c6418b7edb3640fbb89baf"><div class="ttname"><a href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">TSReader::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="aclassAbstractParamReader_html_ae72d6da8f6be23dccb89c542edc144b9"><div class="ttname"><a href="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">AbstractParamReader::floatOf</a></div><div class="ttdeci">float floatOf(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>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
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<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="l00025"></a><span class="lineno"><a class="line" href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab"> 25</a></span>  <a class="code" href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">TSReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>(d){<a class="code" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">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="l00031"></a><span class="lineno"><a class="line" href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f"> 31</a></span>  <span class="keyword">inline</span> std::map< const std::string, std::vector<object_data>>& <a class="code" href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">dropOffData</a>() {<span class="keywordflow">return</span> <a class="code" href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">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="l00037"></a><span class="lineno"><a class="line" href="classTSReader.html#ada36eead572d86a77bc8fed723090079"> 37</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classTSReader.html#ada36eead572d86a77bc8fed723090079">setDropOffData</a>(std::map< <span class="keyword">const</span> std::string, std::vector<object_data>>& dod) {<a class="code" href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">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="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">void</span> <a class="code" href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">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="aclassTSReader_html_aa6f2320c77b41da88e8f5c1e49cfb68c"><div class="ttname"><a href="classTSReader.html#aa6f2320c77b41da88e8f5c1e49cfb68c">TSReader::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="aclassTSReader_html"><div class="ttname"><a href="classTSReader.html">TSReader</a></div><div class="ttdoc">TS reader.</div><div class="ttdef"><b>Definition:</b> <a href="ts__reader_8h_source.html#l00015">ts_reader.h:15</a></div></div>
<div class="ttc" id="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>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassTSReader_html_ad0408bf815e6f25af09bea9f1546ebab"><div class="ttname"><a href="classTSReader.html#ad0408bf815e6f25af09bea9f1546ebab">TSReader::TSReader</a></div><div class="ttdeci">TSReader(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="aclassTSReader_html_ada36eead572d86a77bc8fed723090079"><div class="ttname"><a href="classTSReader.html#ada36eead572d86a77bc8fed723090079">TSReader::setDropOffData</a></div><div class="ttdeci">void setDropOffData(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="aclassTSReader_html_a900b6a264baba5abf2ded18aac10c56f"><div class="ttname"><a href="classTSReader.html#a900b6a264baba5abf2ded18aac10c56f">TSReader::dropOffData</a></div><div class="ttdeci">std::map< const std::string, std::vector< object_data > > & dropOffData()</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="aclassTSReader_html_a691b97a848c6418b7edb3640fbb89baf"><div class="ttname"><a href="classTSReader.html#a691b97a848c6418b7edb3640fbb89baf">TSReader::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>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
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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>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ur10_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="ur10__decorator_8h_source.html">robot/decorators/ur10_decorator.h</a>"</code><br />
+<code>#include <regex></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for ur10_decorator.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="ur10__decorator_8cpp__incl.png" border="0" usemap="#ur10__decorator_8cpp" alt=""/></div>
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+<p><a href="ur10__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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+<div class="header">
+ <div class="headertitle">
+<div class="title">ur10_decorator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ur10__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="ur10__decorator_8h.html">robot/decorators/ur10_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="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b"> 4</a></span> <a class="code" href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator::UR10Decorator</a>(std::unique_ptr<AbstractRobot> next) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  : <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">spezifieRootBounds</a>();</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="comment">// spezifie_robot_groups();</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"> 12</span>  </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46"> 13</a></span> <span class="keywordtype">void</span> <a class="code" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">UR10Decorator::spezifieRootBounds</a>(){</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="comment">// panda root</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().clear();</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.095f, 0.095f, 0))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.095f, 0.095f, 0))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.095f, -0.095f, 0)));</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.095f, -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="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1"> 22</a></span> <span class="keywordtype">void</span> <a class="code" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">UR10Decorator::spezifieRobotGroups</a>(){</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  std::stringstream hand_n, ik_frame_n, name_n, base_n;</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>  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="l00026"></a><span class="lineno"> 26</span>  std::smatch match;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::regex_match(<a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->name(), match, panda_id);</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>  hand_n << <span class="stringliteral">"hand_"</span> << match[1];</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  ik_frame_n << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_link8"</span>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  base_n << <span class="stringliteral">"base_"</span> << match[1];</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="keywordflow">for</span> (<span class="keyword">auto</span>& link : <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a>->getLinkNames()){</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, left_finger)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"left_finger"</span>, link));</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, right_finger)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"right_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, hand_link)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"hand_link"</span>, link));</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>  <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a> = std::make_shared<moveit::planning_interface::MoveGroupInterface>(hand_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>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"base"</span>, base_n.str()));</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a300f221528cb239f0125e66f6a3e67d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">AbstractRobotDecorator::next_</a></div><div class="ttdeci">std::unique_ptr< AbstractRobot > next_</div><div class="ttdoc">Abstract Robot which is mimiced.</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="aur10__decorator_8h_html"><div class="ttname"><a href="ur10__decorator_8h.html">ur10_decorator.h</a></div></div>
+<div class="ttc" id="aclassUR10Decorator_html_acf7051559d63f1caf0bab6e82ec76c46"><div class="ttname"><a href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">UR10Decorator::spezifieRootBounds</a></div><div class="ttdeci">void spezifieRootBounds() override</div><div class="ttdoc">UR10 Root spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8cpp_source.html#l00013">ur10_decorator.cpp:13</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a06a1ef5229d1524c4cb427520d1edc3a"><div class="ttname"><a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">AbstractRobotDecorator::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdoc">//!< Mapping of specific task constructor variables</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00028">abstract_robot_decorator.h:28</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a70fe6a61069c851f1adcd1f18e2f8a4d"><div class="ttname"><a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">AbstractRobotDecorator::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</div><div class="ttdoc">MoveGroup Interface for the Robots manipulator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00026">abstract_robot_decorator.h:26</a></div></div>
+<div class="ttc" id="aclassUR10Decorator_html_a265d2ad3a604c02ce69f2920e9087ae1"><div class="ttname"><a href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">UR10Decorator::spezifieRobotGroups</a></div><div class="ttdeci">void spezifieRobotGroups() override</div><div class="ttdoc">UR10 Mapping spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8cpp_source.html#l00022">ur10_decorator.cpp:22</a></div></div>
+<div class="ttc" id="aclassUR10Decorator_html_a1240c90a9559c11d54cf53a0d1665b0b"><div class="ttname"><a href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator::UR10Decorator</a></div><div class="ttdeci">UR10Decorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">UR10 Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8cpp_source.html#l00004">ur10_decorator.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
+<title>multi_cell_builder: ur10_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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+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">ur10_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="abstract__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 ur10_decorator.h:</div>
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+</div>
+</div>
+<p><a href="ur10__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="classUR10Decorator.html">UR10Decorator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Panda Mediator. <a href="classUR10Decorator.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 Mon Mar 27 2023 19:07:14</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_a96b128c7c6c6ac354ec7533337bc019.html">robot</a></li><li class="navelem"><a class="el" href="dir_f12c5f90dd7935e249eb6e93c5a0b8ce.html">decorators</a></li> </ul>
+</div>
+</div><!-- top -->
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+ <div class="headertitle">
+<div class="title">ur10_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ur10__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 UR10_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define UR10_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="abstract__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="l00009"></a><span class="lineno"> 9</span>  </div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classUR10Decorator.html"> 12</a></span> <span class="keyword">class </span><a class="code" href="classUR10Decorator.html">UR10Decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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>  </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator</a>(std::unique_ptr<AbstractRobot> <a class="code" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>);</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"> 26</span>  <span class="keywordtype">void</span> <a class="code" href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">spezifieRootBounds</a>() <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="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">void</span> <a class="code" href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">spezifieRobotGroups</a>() <span class="keyword">override</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"> 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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassUR10Decorator_html_acf7051559d63f1caf0bab6e82ec76c46"><div class="ttname"><a href="classUR10Decorator.html#acf7051559d63f1caf0bab6e82ec76c46">UR10Decorator::spezifieRootBounds</a></div><div class="ttdeci">void spezifieRootBounds() override</div><div class="ttdoc">UR10 Root spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8cpp_source.html#l00013">ur10_decorator.cpp:13</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__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassUR10Decorator_html"><div class="ttname"><a href="classUR10Decorator.html">UR10Decorator</a></div><div class="ttdoc">Panda Mediator.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8h_source.html#l00012">ur10_decorator.h:12</a></div></div>
+<div class="ttc" id="aclassUR10Decorator_html_a265d2ad3a604c02ce69f2920e9087ae1"><div class="ttname"><a href="classUR10Decorator.html#a265d2ad3a604c02ce69f2920e9087ae1">UR10Decorator::spezifieRobotGroups</a></div><div class="ttdeci">void spezifieRobotGroups() override</div><div class="ttdoc">UR10 Mapping spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8cpp_source.html#l00022">ur10_decorator.cpp:22</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_af3b03bd96b7f53df1a4a76cf980429fe"><div class="ttname"><a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">AbstractRobotDecorator::next</a></div><div class="ttdeci">AbstractRobot * next()</div><div class="ttdoc">Call of mimiced objects.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00074">abstract_robot_decorator.h:74</a></div></div>
+<div class="ttc" id="aclassUR10Decorator_html_a1240c90a9559c11d54cf53a0d1665b0b"><div class="ttname"><a href="classUR10Decorator.html#a1240c90a9559c11d54cf53a0d1665b0b">UR10Decorator::UR10Decorator</a></div><div class="ttdeci">UR10Decorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">UR10 Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="ur10__decorator_8cpp_source.html#l00004">ur10_decorator.cpp:4</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+
+<br clear="all" />
+<hr size="1"><div style="align: right;">
+<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
+Author(s): MA <matteo.aneddama@gmail.com></br />
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="headertitle">
+<div class="title">ur5_decorator.cpp File Reference</div> </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include "<a class="el" href="ur5__decorator_8h_source.html">robot/decorators/ur5_decorator.h</a>"</code><br />
+<code>#include <regex></code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for ur5_decorator.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 Mon Mar 27 2023 19:07:14</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><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">ur5_decorator.cpp</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ur5__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="ur5__decorator_8h.html">robot/decorators/ur5_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="classUR5Decorator.html#a3010412a816268e1a0541312c818052e"> 4</a></span> <a class="code" href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator::UR5Decorator</a>(std::unique_ptr<AbstractRobot> next) </div>
+<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  : <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</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="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">spezifieRootBounds</a>();</div>
+<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  <span class="comment">// spezifie_robot_groups();</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"> 12</span>  </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac"> 13</a></span> <span class="keywordtype">void</span> <a class="code" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">UR5Decorator::spezifieRootBounds</a>(){</div>
+<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="comment">// panda root</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().clear();</div>
+<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.0745f, 0.0745f, 0))); <span class="comment">// ++</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.0745f, 0.0745f, 0))); <span class="comment">// +-</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.0745f, -0.0745f, 0)));</div>
+<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.0745f, -0.0745f, 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="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a"> 22</a></span> <span class="keywordtype">void</span> <a class="code" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">UR5Decorator::spezifieRobotGroups</a>(){</div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  std::stringstream hand_n, ik_frame_n, name_n, base_n;</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>  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="l00026"></a><span class="lineno"> 26</span>  std::smatch match;</div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::regex_match(<a class="code" href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">next_</a>->name(), match, panda_id);</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>  hand_n << <span class="stringliteral">"hand_"</span> << match[1];</div>
+<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  ik_frame_n << <span class="stringliteral">"panda_"</span> << match[1] << <span class="stringliteral">"_link8"</span>;</div>
+<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  base_n << <span class="stringliteral">"base_"</span> << match[1];</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="keywordflow">for</span> (<span class="keyword">auto</span>& link : <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a>->getLinkNames()){</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, left_finger)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"left_finger"</span>, link));</div>
+<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span> (std::regex_match(link, match, right_finger)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"right_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, hand_link)) <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::pair<std::string, std::string>(<span class="stringliteral">"hand_link"</span>, link));</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>  <a class="code" href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">mgi_hand_</a> = std::make_shared<moveit::planning_interface::MoveGroupInterface>(hand_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>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">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="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">map_</a>.insert(std::make_pair<std::string, std::string>(<span class="stringliteral">"base"</span>, base_n.str()));</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> }</div>
+</div><!-- fragment --></div><!-- contents -->
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a300f221528cb239f0125e66f6a3e67d5"><div class="ttname"><a href="classAbstractRobotDecorator.html#a300f221528cb239f0125e66f6a3e67d5">AbstractRobotDecorator::next_</a></div><div class="ttdeci">std::unique_ptr< AbstractRobot > next_</div><div class="ttdoc">Abstract Robot which is mimiced.</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="aclassAbstractRobotDecorator_html_a06a1ef5229d1524c4cb427520d1edc3a"><div class="ttname"><a href="classAbstractRobotDecorator.html#a06a1ef5229d1524c4cb427520d1edc3a">AbstractRobotDecorator::map_</a></div><div class="ttdeci">std::map< std::string, std::string > map_</div><div class="ttdoc">//!< Mapping of specific task constructor variables</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00028">abstract_robot_decorator.h:28</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html_ac7f015db131e22f7a508865ef6afd03a"><div class="ttname"><a href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">UR5Decorator::spezifieRobotGroups</a></div><div class="ttdeci">void spezifieRobotGroups() override</div><div class="ttdoc">Panda Mapping spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8cpp_source.html#l00022">ur5_decorator.cpp:22</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html_a28481d737176393368558ed38669b0ac"><div class="ttname"><a href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">UR5Decorator::spezifieRootBounds</a></div><div class="ttdeci">void spezifieRootBounds() override</div><div class="ttdoc">UR5 Root spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8cpp_source.html#l00013">ur5_decorator.cpp:13</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_a70fe6a61069c851f1adcd1f18e2f8a4d"><div class="ttname"><a href="classAbstractRobotDecorator.html#a70fe6a61069c851f1adcd1f18e2f8a4d">AbstractRobotDecorator::mgi_hand_</a></div><div class="ttdeci">std::shared_ptr< moveit::planning_interface::MoveGroupInterface > mgi_hand_</div><div class="ttdoc">MoveGroup Interface for the Robots manipulator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00026">abstract_robot_decorator.h:26</a></div></div>
+<div class="ttc" id="aur5__decorator_8h_html"><div class="ttname"><a href="ur5__decorator_8h.html">ur5_decorator.h</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html_a3010412a816268e1a0541312c818052e"><div class="ttname"><a href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator::UR5Decorator</a></div><div class="ttdeci">UR5Decorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">UR5 Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8cpp_source.html#l00004">ur5_decorator.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 Mon Mar 27 2023 19:07:14</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: ur5_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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+<body onload='searchBox.OnSelectItem(0);'>
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+});
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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>
+</div>
+</div><!-- top -->
+<div class="header">
+ <div class="summary">
+<a href="#nested-classes">Classes</a> </div>
+ <div class="headertitle">
+<div class="title">ur5_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="abstract__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 ur5_decorator.h:</div>
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+</div><div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
+<div class="center"><img src="ur5__decorator_8h__dep__incl.png" border="0" usemap="#ur5__decorator_8hdep" alt=""/></div>
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+</div>
+</div>
+<p><a href="ur5__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="classUR5Decorator.html">UR5Decorator</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">UR5 Decorator. <a href="classUR5Decorator.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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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+<title>multi_cell_builder: ur5_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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+/* @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">ur5_decorator.h</div> </div>
+</div><!--header-->
+<div class="contents">
+<a href="ur5__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 UR5_DECORATOR_</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define UR5_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="abstract__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="l00010"></a><span class="lineno"> 10</span>  </div>
+<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classUR5Decorator.html"> 13</a></span> <span class="keyword">class </span><a class="code" href="classUR5Decorator.html">UR5Decorator</a> : <span class="keyword">public</span> <a class="code" href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a>{</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>  </div>
+<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator</a>(std::unique_ptr<AbstractRobot> <a class="code" href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">next</a>);</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"> 27</span>  <span class="keywordtype">void</span> <a class="code" href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">spezifieRootBounds</a>() <span class="keyword">override</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="keywordtype">void</span> <a class="code" href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">spezifieRobotGroups</a>() <span class="keyword">override</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>  </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="preprocessor">#endif</span></div>
+</div><!-- fragment --></div><!-- contents -->
+<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__robot_8h_html"><div class="ttname"><a href="abstract__robot_8h.html">abstract_robot.h</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html_ac7f015db131e22f7a508865ef6afd03a"><div class="ttname"><a href="classUR5Decorator.html#ac7f015db131e22f7a508865ef6afd03a">UR5Decorator::spezifieRobotGroups</a></div><div class="ttdeci">void spezifieRobotGroups() override</div><div class="ttdoc">Panda Mapping spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8cpp_source.html#l00022">ur5_decorator.cpp:22</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html_a28481d737176393368558ed38669b0ac"><div class="ttname"><a href="classUR5Decorator.html#a28481d737176393368558ed38669b0ac">UR5Decorator::spezifieRootBounds</a></div><div class="ttdeci">void spezifieRootBounds() override</div><div class="ttdoc">UR5 Root spezififcation.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8cpp_source.html#l00013">ur5_decorator.cpp:13</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html_af3b03bd96b7f53df1a4a76cf980429fe"><div class="ttname"><a href="classAbstractRobotDecorator.html#af3b03bd96b7f53df1a4a76cf980429fe">AbstractRobotDecorator::next</a></div><div class="ttdeci">AbstractRobot * next()</div><div class="ttdoc">Call of mimiced objects.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00074">abstract_robot_decorator.h:74</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html"><div class="ttname"><a href="classUR5Decorator.html">UR5Decorator</a></div><div class="ttdoc">UR5 Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8h_source.html#l00013">ur5_decorator.h:13</a></div></div>
+<div class="ttc" id="aclassAbstractRobotDecorator_html"><div class="ttname"><a href="classAbstractRobotDecorator.html">AbstractRobotDecorator</a></div><div class="ttdoc">Abstract Robot Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__robot__decorator_8h_source.html#l00022">abstract_robot_decorator.h:22</a></div></div>
+<div class="ttc" id="aclassUR5Decorator_html_a3010412a816268e1a0541312c818052e"><div class="ttname"><a href="classUR5Decorator.html#a3010412a816268e1a0541312c818052e">UR5Decorator::UR5Decorator</a></div><div class="ttdeci">UR5Decorator(std::unique_ptr< AbstractRobot > next)</div><div class="ttdoc">UR5 Decorator.</div><div class="ttdef"><b>Definition:</b> <a href="ur5__decorator_8cpp_source.html#l00004">ur5_decorator.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 Mon Mar 27 2023 19:07:14</small>
+</div>
+</body>
+</html>
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- <div class="headertitle">
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-Classes</h2></td></tr>
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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>
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-<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>
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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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-<div class="title">wing_moveit_decorator.cpp File Reference</div> </div>
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-<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>
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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>
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-</body>
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-<div class="title">wing_moveit_decorator.cpp</div> </div>
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-<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
deleted file mode 100644
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+++ /dev/null
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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 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>
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-<div class="header">
- <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">
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-This graph shows which files directly or indirectly include this file:</div>
-<div class="dyncontent">
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-<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>
diff --git a/doc/html/wing__moveit__decorator_8h__dep__incl.map b/doc/html/wing__moveit__decorator_8h__dep__incl.map
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diff --git a/doc/html/wing__moveit__decorator_8h__dep__incl.md5 b/doc/html/wing__moveit__decorator_8h__dep__incl.md5
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diff --git a/doc/html/wing__moveit__decorator_8h__dep__incl.png b/doc/html/wing__moveit__decorator_8h__dep__incl.png
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diff --git a/doc/html/wing__moveit__decorator_8h_source.html b/doc/html/wing__moveit__decorator_8h_source.html
deleted file mode 100644
index 3e59faa584664a701cc7b77550eb4de24deb9051..0000000000000000000000000000000000000000
--- a/doc/html/wing__moveit__decorator_8h_source.html
+++ /dev/null
@@ -1,79 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: wing_moveit_decorator.h Source File</title>
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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="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
index eefa1ee4a754594ee886383cdcdfd7f142f07771..8c96ec441bd6a65a3813d72559097491b19fc60f 100644
--- a/doc/html/wing__reader_8cpp.html
+++ b/doc/html/wing__reader_8cpp.html
@@ -52,7 +52,7 @@ Include dependency graph for wing_reader.cpp:</div>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
</div>
</body>
</html>
diff --git a/doc/html/wing__reader_8cpp_source.html b/doc/html/wing__reader_8cpp_source.html
index ec5f339d6ea17264d227b02c80c1d48d0df83ab9..5e28aef7f19cd1d5af82b3ba5d26c45c4e839762 100644
--- a/doc/html/wing__reader_8cpp_source.html
+++ b/doc/html/wing__reader_8cpp_source.html
@@ -27,9 +27,9 @@ $(function() {
<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="l00003"></a><span class="lineno"><a class="line" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce"> 3</a></span> <span class="keywordtype">void</span> <a class="code" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">WingReader::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="l00005"></a><span class="lineno"> 5</span>  <a class="code" href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">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>
@@ -69,17 +69,17 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div>
<div class="line"><a name="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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
<div class="line"><a name="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>
@@ -116,17 +116,17 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div>
<div class="line"><a name="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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
<div class="line"><a name="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>
@@ -163,17 +163,17 @@ $(function() {
<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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"length"</span>])) :size.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"width"</span>])) :size.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"size"</span>][<span class="stringliteral">"height"</span>])) :size.setZ(0);</div>
<div class="line"><a name="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="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"x"</span>])) :pos.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"pos"</span>][<span class="stringliteral">"y"</span>])) :pos.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"x"</span>])) :rot.setX(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"y"</span>])) :rot.setY(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"z"</span>])) :rot.setZ(0);</div>
+<div class="line"><a name="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="classAbstractParamReader.html#ae72d6da8f6be23dccb89c542edc144b9">floatOf</a>(resources[i][<span class="stringliteral">"orientation"</span>][<span class="stringliteral">"w"</span>])) :rot.setW(0);</div>
<div class="line"><a name="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>
@@ -194,20 +194,20 @@ $(function() {
<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>
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<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> }</div>
</div><!-- fragment --></div><!-- contents -->
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+<div class="ttc" id="aclassAbstractParamReader_html_aaf04f9855d82c373e90f0540892a1d32"><div class="ttname"><a href="classAbstractParamReader.html#aaf04f9855d82c373e90f0540892a1d32">AbstractParamReader::nh_</a></div><div class="ttdeci">std::shared_ptr< ros::NodeHandle > nh_</div><div class="ttdoc">ROS Nodehandle.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00031">abstract_param_reader.h:31</a></div></div>
+<div class="ttc" id="aclassWingReader_html_a80f96970b091739ad14a690abcda96ce"><div class="ttname"><a href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">WingReader::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="awing__reader_8h_html"><div class="ttname"><a href="wing__reader_8h.html">wing_reader.h</a></div></div>
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+<div class="ttc" id="aclassWingReader_html_acb93724c3512641f05c689c0e846f096"><div class="ttname"><a href="classWingReader.html#acb93724c3512641f05c689c0e846f096">WingReader::setWingData</a></div><div class="ttdeci">void setWingData(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>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classWingReader.html">WingReader</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Wing reader. <a href="classWingReader.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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@@ -88,7 +83,7 @@ Classes</h2></td></tr>
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">multi_cell_builder</a><br />
Author(s): MA <matteo.aneddama@gmail.com></br />
-<small>autogenerated on Thu Jan 12 2023 23:45:43</small>
+<small>autogenerated on Mon Mar 27 2023 19:07:14</small>
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diff --git a/doc/html/wing__reader_8h_source.html b/doc/html/wing__reader_8h_source.html
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@@ -35,38 +35,38 @@ $(function() {
<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="l00014"></a><span class="lineno"><a class="line" href="classWingReader.html"> 14</a></span> <span class="keyword">class </span><a class="code" href="classWingReader.html">WingReader</a> : <span class="keyword">public</span> <a class="code" href="classAbstractParamReader.html">AbstractParamReader</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="l00016"></a><span class="lineno"><a class="line" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8"> 16</a></span>  std::map<const std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>> <a class="code" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">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="l00024"></a><span class="lineno"><a class="line" href="classWingReader.html#a3fdb95591be590790271842612bcf00c"> 24</a></span>  <a class="code" href="classWingReader.html#a3fdb95591be590790271842612bcf00c">WingReader</a>(std::shared_ptr<ros::NodeHandle> <span class="keyword">const</span>& d) : <a class="code" href="classAbstractParamReader.html">AbstractParamReader</a>(d){<a class="code" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">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>
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+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classWingReader.html#acb93724c3512641f05c689c0e846f096"> 30</a></span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classWingReader.html#acb93724c3512641f05c689c0e846f096">setWingData</a>(std::map<<span class="keyword">const</span> std::string, std::pair<std::vector<object_data>, <span class="keywordtype">int</span>>>& wing_data) {<a class="code" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">wing_data_</a> = wing_data;}</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="l00036"></a><span class="lineno"><a class="line" href="classWingReader.html#a055603149057f4734a689f0fcbec21ba"> 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="classWingReader.html#a055603149057f4734a689f0fcbec21ba">wingData</a>() {<span class="keywordflow">return</span> <a class="code" href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">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="l00039"></a><span class="lineno"> 39</span>  <span class="keywordtype">void</span> <a class="code" href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">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>
+<div class="ttc" id="aclassAbstractParamReader_html"><div class="ttname"><a href="classAbstractParamReader.html">AbstractParamReader</a></div><div class="ttdoc">Abstract ROS-Param reader class.</div><div class="ttdef"><b>Definition:</b> <a href="abstract__param__reader_8h_source.html#l00029">abstract_param_reader.h:29</a></div></div>
+<div class="ttc" id="aclassWingReader_html_a80f96970b091739ad14a690abcda96ce"><div class="ttname"><a href="classWingReader.html#a80f96970b091739ad14a690abcda96ce">WingReader::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="aclassWingReader_html_a3fdb95591be590790271842612bcf00c"><div class="ttname"><a href="classWingReader.html#a3fdb95591be590790271842612bcf00c">WingReader::WingReader</a></div><div class="ttdeci">WingReader(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="aclassWingReader_html_a055603149057f4734a689f0fcbec21ba"><div class="ttname"><a href="classWingReader.html#a055603149057f4734a689f0fcbec21ba">WingReader::wingData</a></div><div class="ttdeci">std::map< const std::string, std::pair< std::vector< object_data >, int > > & wingData()</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="aclassWingReader_html"><div class="ttname"><a href="classWingReader.html">WingReader</a></div><div class="ttdoc">Wing reader.</div><div class="ttdef"><b>Definition:</b> <a href="wing__reader_8h_source.html#l00014">wing_reader.h:14</a></div></div>
+<div class="ttc" id="aclassWingReader_html_aee76d2b963c7a40b77a46f48f7a0d0e8"><div class="ttname"><a href="classWingReader.html#aee76d2b963c7a40b77a46f48f7a0d0e8">WingReader::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="aclassWingReader_html_acb93724c3512641f05c689c0e846f096"><div class="ttname"><a href="classWingReader.html#acb93724c3512641f05c689c0e846f096">WingReader::setWingData</a></div><div class="ttdeci">void setWingData(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>
<br clear="all" />
<hr size="1"><div style="align: right;">
<a href="http://wiki.ros.org/multi_cell_builder">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">wing_rviz_decorator.cpp File Reference</div> </div>
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-<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>
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-<div class="title">wing_rviz_decorator.cpp</div> </div>
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-<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>
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diff --git a/doc/html/wing__rviz__decorator_8h.html b/doc/html/wing__rviz__decorator_8h.html
deleted file mode 100644
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+++ /dev/null
@@ -1,89 +0,0 @@
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-<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>
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-<p><a href="wing__rviz__decorator_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="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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deleted file mode 100644
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+++ /dev/null
@@ -1,74 +0,0 @@
-<html><head><meta http-equiv="Content-Type" content="text/html;charset=utf-8">
-<title>multi_cell_builder: wing_rviz_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_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
index e282d981e25a69c5d156a831589f9af2a90882fa..7020a0f8c204e25d0ca04004831b2a8e6d399de8 100644
--- a/doc/manifest.yaml
+++ b/doc/manifest.yaml
@@ -3,33 +3,34 @@ authors: MA <matteo.aneddama@gmail.com>
brief: ''
bugtracker: ''
depends:
-- moveit_task_constructor_visualization
-- moveit_grasps
-- moveit_visual_tools
+- tf_conversions
+- roscpp
+- moveit_ros_planning
+- roslint
- trajectory_msgs
+- moveit_msgs
+- catkin
+- moveit_task_constructor_capabilities
+- pcl_ros
- moveit_grasps_filter
-- moveit_core
-- ccf
-- roslint
- tf
-- filesystem
-- message_runtime
+- moveit_core
+- rosparam_shortcuts
+- moveit_visual_tools
+- yaml-cpp
- moveit_task_constructor_core
+- ccf
- geometry_msgs
-- eigen_conversions
-- roscpp
-- message_generation
-- moveit_msgs
+- moveit_grasps
- moveit_ros_planning_interface
-- moveit_task_constructor_capabilities
-- tf_conversions
-- rosparam_shortcuts
-- gb_grasp
-- catkin
+- message_generation
+- eigen_conversions
- std_msgs
-- moveit_ros_planning
-- pcl_ros
-- yaml-cpp
+- moveit_task_constructor_visualization
+- behaviortree_cpp_v3
+- filesystem
+- message_runtime
+- gb_grasp
description: hjbiubi
license: BSD
maintainers: MA <matteo.aneddama@gmail.com>
diff --git a/include/bridge/abstract_base.h b/include/bridge/abstract_base.h
index 48badc3d7be346058b75b04bdd76cbfe20832f03..f246a1d9ae19d833aef7dc9c8cb1cb05919176d2 100644
--- a/include/bridge/abstract_base.h
+++ b/include/bridge/abstract_base.h
@@ -1,141 +1,73 @@
#ifndef ABSTRACT_BASE_
#define ABSTRACT_BASE_
-#include "ros/ros.h"
+#include <ros/ros.h>
#include <xmlrpcpp/XmlRpc.h>
#include <tf2/LinearMath/Transform.h>
-
-#include "octomap/octomap.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 "reader/abstract_param_reader.h"
#include "robot/abstract_robot.h"
#include "bridge/abstract_base_implementation.h"
-class Abstract_base_implementation;
-class Abstract_robot;
+class AbstractBaseImplementation;
+class AbstractRobot;
-//! Abstract base class
+//! AbstractBaseClass
/*!
-Class which represents the template class abstraction, which calls methodes from an abstract implementation
+Abstract base class that calls functions of the implementation class members. Its members represent the data structures of the Zacharias concept and enable costume approaches through the design of bridge patterns.
*/
-class Abstract_base{
+class AbstractBase{
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::shared_ptr<ros::NodeHandle> nh_; //!< Nodehandle for access to the Rosparam server
+ std::vector<tf2::Transform> map_; //!< ReachabilityMap structure (Zacharias)
+ std::vector<tf2::Transform> inv_map_; //!< InverseReachabilityMap structure (Zacharias)
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::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, mapped to robot
- std::shared_ptr<Abstract_base_implementation> implementation_; //!< refined implementation
+ std::shared_ptr<AbstractBaseImplementation> implementation_; //!< refined implementation
public:
- //! constructor.
+ //! 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();}
+ AbstractBase(std::shared_ptr<ros::NodeHandle> const& nh) : nh_(nh){};
- //! 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 AbstractBaseImplementation* implementation() {return implementation_.get();}
+ inline void setImplementation(std::shared_ptr<AbstractBaseImplementation> implementation) {implementation_ = implementation;}
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 void setResult(std::map<const std::string, std::vector<pcl::PointXYZ>>& result) { result_ = result;}
+ inline std::vector<tf2::Transform>& invMap() {return inv_map_;}
+ inline void setInvMap(std::vector<tf2::Transform>& inv_map) {inv_map_ = inv_map;}
inline std::vector<tf2::Transform>& map() {return map_;}
+ inline void setMap(std::vector<tf2::Transform>& map) {map_ = map;}
+ inline std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& taskSpace() {return task_space_;}
+ inline void setTaskSpace(std::map<const std::string, std::vector<std::pair<object_data,std::vector<tf2::Quaternion>>>>& s_trans) {task_space_ = s_trans;}
+ inline std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& targetCloud () { return target_cloud_;}
+ inline void setTargetCloud(std::map<const std::string, std::vector<pcl::PointCloud< pcl::PointXYZ >::Ptr>>& cloud) {target_cloud_ = cloud;}
- //! 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
+ //! createPCLBox box
/*!
- \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)
+ creates box shaped discretization 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;
+ static std::vector<pcl::PointXYZ> createPCLBox();
//! pure virtual template methode
/*!
bridge template methode, in which implementation is called to calculate base positions
*/
- virtual void base_calculation()=0;
+ virtual void baseCalculation()=0;
};
#endif
diff --git a/include/bridge/abstract_base_implementation.h b/include/bridge/abstract_base_implementation.h
index d062b54eaf8b903bcd0bd62e4fac52bc57e29c2e..75dd807de870fe1908be2aae837e9f19019b69de 100644
--- a/include/bridge/abstract_base_implementation.h
+++ b/include/bridge/abstract_base_implementation.h
@@ -2,41 +2,42 @@
#define ABSTRACT_BASE_IMPLEMENTATION_
#include <ros/ros.h>
+
#include "bridge/abstract_base.h"
-//! abstract base implementation
+//! Abstract base implementation
/*!
-abstract implementation for base calculation, including all necessary hook methods that can be called from a template method
+Abstract concept implementation for calculating base position by inverse maps. The template allows to set custom handle orientations for specific objects, inverse map and cloud construction.
*/
-class Abstract_base_implementation {
+class AbstractBaseImplementation {
public:
- //! Abstract base implementation default constructor
- Abstract_base_implementation()= default;
-
- //! Abstract base implementation default destructor
- ~Abstract_base_implementation()= default;
+ AbstractBaseImplementation()= default;
+ ~AbstractBaseImplementation()= 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;
+ virtual void setGraspOrientations(std::map<const std::string, std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>>>& var)=0;
- //! pure virtual methode to create inverse map
+ //! pure virtual methode to calculate the 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;
+ virtual void invMapCreation(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;
+ //! pure virtual methode to calculate pcl clouds
+ /*!
+ Manipulates the vector of pcl::cloud of a graspable object
+ \param inv_map reference to manipulate member
+ \param task_space reference to manipulate member
+ \param target_cloud reference to manipulate member
+ */
+ virtual void cloudCalculation(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;
};
diff --git a/include/bridge/simple_base.h b/include/bridge/simple_base.h
index 2c1be3fad6df4b08a6d610dfd04836cd26914c92..927a9d6ae7d2600e420a2f87a3e808106f1dfe73 100644
--- a/include/bridge/simple_base.h
+++ b/include/bridge/simple_base.h
@@ -1,17 +1,15 @@
#ifndef SIMPLE_BASE_
#define SIMPLE_BASE_
-#include "ros/ros.h"
+#include <ros/ros.h>
#include <xmlrpcpp/XmlRpc.h>
#include <tf2/LinearMath/Transform.h>
-
-#include "octomap/octomap.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"
@@ -19,21 +17,21 @@
#include "reader/ts_reader.h"
-//! refiend base abstraction
+//! SimpleBase as refinement of AbstractBase
/*!
- A simple refined abstraction, which utilizes raeder objects to set upper member vaiables.
+A simple refinement of AbstractBase where concept variables are set by reader instances instead of being computed.
*/
-class Simple_base : public Abstract_base {
+class SimpleBase : public AbstractBase {
protected:
- std::unique_ptr<Ts_reader> task_space_reader_; /*!< Task space reader object */
- std::unique_ptr<Map_reader> map_reader_; /*!< Reachability map reader object */
+ std::unique_ptr<TSReader> task_space_reader_; /*!< Task space reader instance */
+ std::unique_ptr<MapReader> map_reader_; /*!< Reachability map reader instance */
public:
//! Simple base constructor
/*!
- \param d Ros nodehandle to interact with ros
+ \param d ros::NodeHandle to interact with paramserver
*/
- Simple_base(std::shared_ptr<ros::NodeHandle> const& d);
+ SimpleBase(std::shared_ptr<ros::NodeHandle> const& d);
//! refined Template methode
/*!
@@ -41,9 +39,6 @@ class Simple_base : public Abstract_base {
\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;
-
+ void baseCalculation() override;
};
#endif
\ No newline at end of file
diff --git a/include/bridge/simple_base_implementation.h b/include/bridge/simple_base_implementation.h
index ee16766055edf880a90761637de084c8d1dd4860..17ce998b367077a292061f296c2d1282fa75698d 100644
--- a/include/bridge/simple_base_implementation.h
+++ b/include/bridge/simple_base_implementation.h
@@ -2,28 +2,25 @@
#define SIMPLE_BASE_IMPLEMENTATION_
#include <ros/ros.h>
+
#include "bridge/abstract_base_implementation.h"
#include "bridge/abstract_base.h"
-//! refined base implementation
+//! SimpleBaseImplementation as refinement of AbstractBaseImplementation
/*!
-generel base calculation approach
+general approach to the calculation of the base, in which the orientations of the objects are considered to be equivalent
*/
-class Simple_base_implementation : public Abstract_base_implementation {
+class SimpleBaseImplementation : public AbstractBaseImplementation {
public:
-
- //! Default simple base implementation constructor
- Simple_base_implementation()= default;
-
- //! Default simple base implementation destructor
- ~Simple_base_implementation()= default;
+ SimpleBaseImplementation()= default;
+ ~SimpleBaseImplementation()= 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;
+ void setGraspOrientations(std::map<const std::string, std::vector<std::pair<object_data, std::vector<tf2::Quaternion>>>>& var) override;
//! Create inversed reachability map
/*!
@@ -32,13 +29,13 @@ class Simple_base_implementation : public Abstract_base_implementation {
\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;
+ void invMapCreation(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
+ //! PCL Cloud calculation for every 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;
+ void cloudCalculation(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;
};
diff --git a/include/bt/execution.h b/include/bt/execution.h
index 4946a08e73d14b5d557d122928c7e85a157c3aa1..a22dd3f82f7590c41d5d4ad396bbf7af3e47b678 100644
--- a/include/bt/execution.h
+++ b/include/bt/execution.h
@@ -1,44 +1,60 @@
#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 "mediator/abstract_mediator.h"
-#include "mediator/moveit_mediator.h"
-#include "robot/decorators/abstract_robot_decorator.h"
-
-
-#include <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
-
-
+#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/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 <moveit_task_constructor_msgs/ExecuteTaskSolutionAction.h>
+
+#include "mediator/abstract_mediator.h"
+#include "robot/decorators/abstract_robot_decorator.h"
+//! Execution node as StatefulActionNode
+/*!
+Execution node that maintains its state (success, failure or execution). It implements robot task execution as a model in which robots can be treated as threads. It represents a container of successive tasks that a robot has to execute and stores a trajectory and a planning scene per task and robot.
+*/
class Execution : public BT::StatefulActionNode{
private:
- moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_;
- Abstract_robot_decorator* 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_;
+ moveit_task_constructor_msgs::ExecuteTaskSolutionGoal ets_; //!< ExecuteTaskSolutionGoal, which is a reference to trajetory and planningscene
+ AbstractRobotDecorator* mr_reference_; //!< Reference to the robot
+ std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions_; //!< trajetory and planningscene mapped to robot
+ std::vector<moveit_task_constructor_msgs::SubTrajectory>::iterator it_; //!< next iteration of ExecuteTaskSolutionGoal
public:
+
+ //! constructor
+ /*!
+ \param name Name displayed in Groot
+ \param config Node configuration
+ */
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, Abstract_robot_decorator* mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets);
+ //! Initialize Node
+ /*!
+ \param executions_
+ \param mr_reference_
+ \param ets_
+ */
+ void init(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions_, AbstractRobotDecorator* mr_reference_, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets_);
+
+ //! Required port interface
inline static BT::PortsList providedPorts() { return {}; }
+ //! Function called at first execution
BT::NodeStatus onStart() override;
+
+ //! Function called while node is in running state
BT::NodeStatus onRunning() override;
+
+ //! Function called on halt
void onHalted() 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
index 8e402f9e4e9054f8a2ecfd3178801f0d01c818b8..199955047b79c5f425740258a3bddd87bad070f6 100644
--- a/include/bt/position_condition.h
+++ b/include/bt/position_condition.h
@@ -1,14 +1,12 @@
#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 <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>
@@ -16,20 +14,44 @@
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/kinematic_constraints/utils.h>
-
-class Position_condition : public BT::ConditionNode {
+//! PositionCondition Node
+/*!
+Implements a pre-condition, in which Objects require a specific position to be processed.
+*/
+class PositionCondition : public BT::ConditionNode {
public:
- Position_condition(const std::string& name, const BT::NodeConfiguration& config);
+ //! PositionCondition constructor
+ /*!
+ \param name Name displayed in Groot
+ \param config Node configuration
+ */
+ PositionCondition(const std::string& name, const BT::NodeConfiguration& config);
+
+ //! Initialize Node
+ /*!
+ \param obj_name Name of Object
+ \param start_pos Position which is to check
+ \param psi Planning scene interface reference
+ */
void init(const std::string& obj_name,tf2::Vector3& start_pos, moveit::planning_interface::PlanningSceneInterface* psi);
+ //! Required port inferface
inline static BT::PortsList providedPorts() { return {}; }
protected:
+ //! tick function
+ /*!
+ Actual object position is retrived by name and checked againt the start position of the execution
+ \param obj_name Name of Object
+ \param start_pos Position which is to check
+ \param psi Planning scene interface reference
+ */
virtual BT::NodeStatus tick() override;
- std::string obj_name_;
- moveit::planning_interface::PlanningSceneInterface* psi_;
- tf2::Vector3 start_pos_;
+
+ std::string obj_name_; //!< Object name
+ moveit::planning_interface::PlanningSceneInterface* psi_; //!< PSI
+ tf2::Vector3 start_pos_; //!< Start position
};
#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/mediator/abstract_mediator.h b/include/mediator/abstract_mediator.h
index bf95b7c1722d5dc4746ba0f23b004a9108961135..2c4b5aecb445c966537179c158c9f9d20096aed4 100644
--- a/include/mediator/abstract_mediator.h
+++ b/include/mediator/abstract_mediator.h
@@ -2,92 +2,93 @@
#define ABSTRACT_MEDIATOR_
#include <ros/ros.h>
+#include <ros/package.h>
+#include <yaml-cpp/yaml.h>
+#include <octomap/octomap.h>
+#include <pcl/point_cloud.h>
+#include <pcl/octree/octree.h>
+#include <filesystem>
+
+#include <fstream>
+
#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/robot_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>
+//! Blueprint of panel data
struct wing_BP {
std::string name_;
tf2::Transform pos_;
tf2::Vector3 size_;
};
+//! Protobuf entry
struct protobuf_entry{
- std::string name_; // robot name
- tf2::Transform tf_; // actual posiitin
+ std::string name_;
+ tf2::Transform tf_;
int wing_config_;
};
-//! Abstract mediator
+//! AbstractMediator
/*!
- Mediator abstraction which takes care of robot abstractions
+ Abstraction of a Mediator which registers Robots.
*/
-class Abstract_mediator {
+class AbstractMediator {
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::map<std::string, std::unique_ptr<Abstract_robot_decorator>> robots_; //!< Robots agents
+ std::shared_ptr<ros::NodeHandle> nh_; //!< Nodehandle for access to the Rosparam server
+ std::unique_ptr<TSReader> task_space_reader_; //!< Task_space reader which provides drop off positions
+ std::map<std::string, std::unique_ptr<AbstractRobotDecorator>> 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::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>> wings_;
std::string dirname_; //!< Dirname of the reference protobuff
- 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::unique_ptr<WingReader> wing_reader_; //!< Wing_reader which collects panel information of robots
+ std::unique_ptr<RobotReader> robot_reader_; //!< Robot_reader which collects robot poses
public:
- //! Abstract mediator constructor
+ //! AbstractMediator constructor
/*!
initializes task_space reader
\param d Ros nodehandle
*/
- Abstract_mediator(std::shared_ptr<ros::NodeHandle> const& d);
+ AbstractMediator(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;}
+ inline void setResultVector(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_;}
+ inline std::map<const std::string, std::vector<std::unique_ptr<AbstractRobotElement>>>& wings() {return wings_;}
//! Get result_vector
/*!
\return result_vector
*/
- inline std::map<const std::string, std::vector<pcl::PointXYZ>>& result_vector() {return result_vector_;}
+ inline std::map<const std::string, std::vector<pcl::PointXYZ>>& resultVector() {return result_vector_;}
//! Get robots
/*!
\return robots as decorators
*/
- inline std::map<std::string, std::unique_ptr<Abstract_robot_decorator>>& robots(){return robots_;}
+ inline std::map<std::string, std::unique_ptr<AbstractRobotDecorator>>& robots(){return robots_;}
//! Set dirname
/*!
\param dirn new dirname
*/
- inline void set_dirname(std::string& dirn) {dirname_ = dirn;}
+ inline void setDirname(std::string& dirn) {dirname_ = dirn;}
//! Get dirname
/*!
@@ -102,31 +103,31 @@ class Abstract_mediator {
\param vector Vector of XYZPoints
\return Pointcloud
*/
- pcl::PointCloud< pcl::PointXYZ >::Ptr vector_to_cloud(std::vector<pcl::PointXYZ>& vector);
+ pcl::PointCloud< pcl::PointXYZ >::Ptr vector2cloud(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;
+ virtual void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot)=0;
//! pure virtual mediate methode
virtual void mediate()=0;
//! pure virtual Sets panels for robots
- virtual void set_panel()=0;
+ virtual void setPanel()=0;
//! Get Wing_reader
/*!
\return wing reader
*/
- inline Wing_reader* wing_reader() {return wing_reader_.get();}
+ inline WingReader* wingReader() {return wing_reader_.get();}
//! Get Robot_reader
/*!
\return robot reader
*/
- inline Robot_reader* robot_reader() {return robot_reader_.get();}
+ inline RobotReader* robotReader() {return robot_reader_.get();}
};
diff --git a/include/mediator/base_calculation_mediator.h b/include/mediator/base_calculation_mediator.h
index 9e3c3f92d785935aaaf3c79a85e4802cff112fea..1db10054234d339e85547e684362f157e00ef716 100644
--- a/include/mediator/base_calculation_mediator.h
+++ b/include/mediator/base_calculation_mediator.h
@@ -5,37 +5,36 @@
#include <ros/package.h>
#include <yaml-cpp/yaml.h>
#include <fstream>
+#include <filesystem>
+
#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"
-#include <filesystem>
//! 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{
+class BaseCalculationMediator : public AbstractMediator{
protected:
std::unique_ptr<ros::Publisher> pub_; //!< Publisher sharing visualization messages of the scene
-
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
+ std::vector<std::vector<std::unique_ptr<AbstractRobotElement>>> wings_; //!< Possible panels per robot
std::vector<std::vector<std::vector<protobuf_entry>>> protobuf_; //!< Datastructure as product of all baseposition -> robot combinations
std::string filename_;
public:
- //! Base_calculation_mediator constructor
+ //! BaseCalculationMediator constructor
/*!
initializes readers und publisher
\param d Ros nodehandle
*/
- Base_calculation_mediator(std::shared_ptr<ros::NodeHandle> const& d);
+ BaseCalculationMediator(std::shared_ptr<ros::NodeHandle> const& d);
//! Ground generator
/*!
@@ -45,7 +44,7 @@ class Base_calculation_mediator : public Abstract_mediator{
\param resolution Ros nodehandle
*/
- void generate_grounds(const tf2::Vector3 origin, const float diameter, float resolution);
+ void generateGrounds(const tf2::Vector3 origin, const float diameter, float resolution);
//! Approximates other robots to fit in the workspace
/*!
@@ -60,17 +59,17 @@ class Base_calculation_mediator : public Abstract_mediator{
\param wc_solution
*/
- void write_file(std::vector<protobuf_entry>& wc_solution);
+ void writeFile(std::vector<protobuf_entry>& wc_solution);
//! Marker publishing methode
/*!
Publishes all markers of an robot
\param r Robot
*/
- void publish(Ceti_robot* r);
+ void publish(CetiRobot* r);
//! Rviz setup methode
- void setup_rviz();
+ void setupRviz();
//! Workspace calculator
/*!
@@ -79,8 +78,7 @@ class Base_calculation_mediator : public Abstract_mediator{
*/
void calculate(std::map<const std::string, std::vector<tf2::Transform>>& workcell);
- //! Sets panels for robots
- void set_panel() override;
+ void setPanel() override;
//! check_collision
/*!
@@ -91,7 +89,7 @@ class Base_calculation_mediator : public Abstract_mediator{
\return true if task_space collides with robot/robot_elements
*/
- bool check_collision(const std::string& robot, std::bitset<3>& panel_mask, bool& workload, std::vector<object_data>& ts);
+ bool checkCollision(const std::string& robot, std::bitset<3>& panel_mask, bool& workload, std::vector<object_data>& ts);
//! Mediator implementation
/*!
@@ -104,9 +102,9 @@ class Base_calculation_mediator : public Abstract_mediator{
registers robot
\param robot
*/
- void connect_robots(std::unique_ptr<Abstract_robot_decorator> robot) override;
+ void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override;
- bool scene_collision(std::vector<protobuf_entry>& wc_solution);
+ bool sceneCollision(std::vector<protobuf_entry>& wc_solution);
};
diff --git a/include/mediator/moveit_mediator.h b/include/mediator/moveit_mediator.h
index 0b7b41afd506f8cdc476e85fb13957e4ad6de124..9a9f319c602ec8c5362a2455c3c9d1ca9a616256 100644
--- a/include/mediator/moveit_mediator.h
+++ b/include/mediator/moveit_mediator.h
@@ -2,7 +2,6 @@
#define MOVEIT_MEDIATOR_
#include <ros/ros.h>
-
#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit_msgs/ApplyPlanningScene.h>
@@ -10,7 +9,6 @@
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit_visual_tools/moveit_visual_tools.h>
-
#include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/compute_ik.h>
#include <moveit/task_constructor/stages/connect.h>
@@ -30,93 +28,131 @@
#include <moveit/task_constructor/solvers/planner_interface.h>
#include <moveit/task_constructor/stage.h>
#include <moveit/task_constructor/stages/fixed_state.h>
-
#include <eigen_conversions/eigen_msg.h>
#include <moveit/trajectory_execution_manager/trajectory_execution_manager.h>
#include <moveit/planning_scene_monitor/current_state_monitor.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/moveit_cpp/moveit_cpp.h>
+#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 <stdint.h>
+
#include "robot_element/observers/moveit_panel.h"
#include "robot_element/decorators/log_decorator.h"
#include "robot/decorators/abstract_robot_decorator.h"
-
#include "reader/job_reader.h"
#include "reader/cuboid_reader.h"
#include "reader/wing_reader.h"
-
-#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 <stdint.h>
-
-class Moveit_mediator : public Abstract_mediator{
+//! Refined MoveitMediator
+/*!
+ Build Multi-cells from specifications and apply MoveIt library, as well as Groot library functionallity to display the state in a task.
+*/
+class MoveitMediator : public AbstractMediator{
protected:
- std::shared_ptr<moveit::core::RobotModel> robot_model_;
- std::shared_ptr<moveit_visual_tools::MoveItVisualTools> visual_tools_;
-
- // planning Interfaces and planing scene
- std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_;
- std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> psi_;
- std::shared_ptr<planning_scene::PlanningScene> ps_;
- std::shared_ptr<ros::Publisher> planning_scene_diff_publisher_;
- std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_;
-
-
- // task constructor
- std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> sampling_planner_;
- std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> cartesian_planner_;
- std::map<std::string, std::vector<moveit::task_constructor::Task>> task_map_;
-
- std::unique_ptr<Job_reader> job_reader_;
- std::unique_ptr<Cuboid_reader> cuboid_reader_;
-
- std::map<std::string, std::vector<uint8_t>> acm_;
- std::map<std::string, std::vector<uint8_t>> rs_;
-
- 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_;
+ std::shared_ptr<moveit::core::RobotModel> robot_model_; //!< Moveit Robot-Model as specified in SDF
+ std::shared_ptr<moveit_visual_tools::MoveItVisualTools> visual_tools_; //!< MoveItVisualTools
+ std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_; //!< Move Group Interface of the whole multi-cell
+ std::unique_ptr<moveit::planning_interface::PlanningSceneInterface> psi_; //!< PlanningSceneInteface to manage Scene Objects
+ std::shared_ptr<planning_scene::PlanningScene> ps_; //!< Shared Planning Scene
+ std::shared_ptr<ros::Publisher> planning_scene_diff_publisher_; //!< Publisher to manage PlanningScene diffs
+ std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_; //!< Planningscene monitor
+ std::shared_ptr<moveit::task_constructor::solvers::PipelinePlanner> sampling_planner_; //!< Moveit task Constructior simple planner
+ std::shared_ptr<moveit::task_constructor::solvers::CartesianPath> cartesian_planner_; //!< Moveit task Constructior cartesian planner
+ std::map<std::string, std::vector<moveit::task_constructor::Task>> task_map_; //!< Tasks mapped to Robot
+ std::unique_ptr<JobReader> job_reader_; //!< jobReader instancde which reads task information
+ std::unique_ptr<CuboidReader> cuboid_reader_; //!< coboidReader instance that distinguishes between scene objects of type bin and box
+ std::map<std::string, std::vector<uint8_t>> acm_; //!< shared allowed collision matrix between robots
+ std::map<std::string, std::vector<uint8_t>> rs_; //!< shared robot state between all robots
+ std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>> tasks_; //!< tasks multimap
+ std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>> executions_; //!< Shared execution map containing groot node information
public:
- Moveit_mediator(std::shared_ptr<ros::NodeHandle> const& nh);
+ //! AbstractMediator constructor
+ /*!
+ initializes task_space reader
+ \param nh Ros nodehandle
+ */
+ MoveitMediator(std::shared_ptr<ros::NodeHandle> const& nh);
inline std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi() {return mgi_;};
+ //! mediator function
+ /*!
+ Construction of robots and planning scenes. Calculate plans in preor to chain them so that they can be executed in parallel.
+ */
void mediate() override;
- void connect_robots(std::unique_ptr<Abstract_robot_decorator> robot) override;
-
-
- void merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, Abstract_robot_decorator* mr);
- void parallel_exec(Abstract_robot_decorator & mr, moveit_msgs::RobotTrajectory rt);
- void merge_acm(moveit_msgs::PlanningScene& in);
-
- void task_planner();
- void publish_tables();
-
- void manipulate_acm(Abstract_robot_decorator* mr, moveit_msgs::PlanningScene& ps);
-
- //void parallel_exec();
- moveit::task_constructor::Task create_Task(Abstract_robot_decorator* r, moveit_msgs::CollisionObject& source, tf2::Transform& target);
+ //! connect robot and initialize Moveit components
+ /*!
+ Set up acm_ and rs_ members to track, merge, and publish changes during execution.
+ \param robot RobotDecorator of Robot
+ */
+ void connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) override;
+
+
+ //! Merge Planning scene
+ /*!
+ \param out merged Planning Scene
+ \param in planning scene to merge
+ \param mr Robot to determine parts to merge in out planning scene
+ */
+ void mergePS(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, AbstractRobotDecorator* mr);
+
+ //! Threaded function which calls executaion on a Robot
+ /*!
+ \param mr RobotDecorator of Robot
+ \param rt Robot trajetory
+ */
+ void parallelExec(AbstractRobotDecorator & mr, moveit_msgs::RobotTrajectory rt);
+
+ //! Threaded function which calls executaion on a Robot
+ /*!
+ \param in merges acm into shared acm
+ */
+ void mergeACM(moveit_msgs::PlanningScene& in);
+
+ //! Threaded function which calls executaion on a Robot
+ /*!
+ \param in merges acm into shared acm
+ */
+ void taskPlanner();
+
+ //! publish all panels in the planning scene
+ void publishTables();
+
+ //! Manipulate ACM by extracting inforamtion of spicified robot
+ /*!
+ \param mr Robot
+ \param ps Planning Scene which contains ACM information
+ */
+ void manipulateACM(AbstractRobotDecorator* mr, moveit_msgs::PlanningScene& ps);
+
+ //! Create Task with Moveit Task Constructor
+ /*!
+ \param r robot
+ \param source initaial position of object
+ \param target pose of object after execution
+ */
+ moveit::task_constructor::Task createTask(AbstractRobotDecorator* 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 std::map<std::string, std::vector<moveit::task_constructor::Task>>& taskMap(){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;};
+ inline void setTasks(std::multimap<std::string, std::pair<tf2::Vector3, std::queue<moveit_task_constructor_msgs::ExecuteTaskSolutionGoal>>>& tasks) {tasks_ = tasks;};
//! Sets panels for robots
- void set_panel() override;
+ void setPanel() override;
};
diff --git a/include/reader/abstract_param_reader.h b/include/reader/abstract_param_reader.h
index 535ec4fce0a534f77b8d559b9f2b49ae6bf7db75..03ed1cd2163fe5a2d7135520480654cf1622feb5 100644
--- a/include/reader/abstract_param_reader.h
+++ b/include/reader/abstract_param_reader.h
@@ -1,7 +1,7 @@
#ifndef ABSTRACT_PARAM_READER_
#define ABSTRACT_PARAM_READER_
-#include "ros/ros.h"
+#include <ros/ros.h>
#include <ros/package.h>
#include <xmlrpcpp/XmlRpc.h>
#include <tf2/LinearMath/Transform.h>
@@ -10,12 +10,14 @@
#include <regex>
#include <yaml-cpp/node/detail/node_data.h>
+//! Object data
struct object_data {
std::string name_;
tf2::Transform pose_;
tf2::Vector3 size_;
};
+//! Job data
struct job_data {
std::vector<tf2::Transform> jobs_;
};
@@ -24,23 +26,23 @@ struct job_data {
/*!
Class concerned with reading information from ROS-Param server.
*/
-class Abstract_param_reader{
+class AbstractParamReader{
protected:
std::shared_ptr<ros::NodeHandle> nh_; //!< ROS Nodehandle
public:
- //! Abstract param reader constructor
+ //! AbstractParamReader constructor
/*!
\param d ROS Nodehandle
*/
- Abstract_param_reader(std::shared_ptr<ros::NodeHandle> const& d) : nh_(d){}
+ AbstractParamReader(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);
+ float floatOf(XmlRpc::XmlRpcValue& val);
//! pure virtual read methode
virtual void read()=0;
diff --git a/include/reader/cuboid_reader.h b/include/reader/cuboid_reader.h
index 06463d73dbc2e3d99c1d22ac3293d58f6c51565c..b57ce93a8309a409115fab3c22a0cc6cdd8a4662 100644
--- a/include/reader/cuboid_reader.h
+++ b/include/reader/cuboid_reader.h
@@ -1,7 +1,7 @@
#ifndef CUBOID_READER_
#define CUBOID_READER_
-#include "ros/ros.h"
+#include <ros/ros.h>
#include <ros/package.h>
#include <xmlrpcpp/XmlRpc.h>
#include <gb_grasp/Cuboid.h>
@@ -14,7 +14,7 @@
/*!
Reader which returns cuboid objects as defined in gb_grasp
*/
-class Cuboid_reader : public Abstract_param_reader{
+class CuboidReader : public AbstractParamReader{
protected:
std::vector<Cuboid> cuboid_box_; //!< As box defined object
std::vector<Cuboid> cuboid_obstacle_; //!< As obstacle defined objects
@@ -25,31 +25,31 @@ class Cuboid_reader : public Abstract_param_reader{
Calls pure virtual read() methode
\param d ROS nodehandle
*/
- Cuboid_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ CuboidReader(std::shared_ptr<ros::NodeHandle> const& d) : AbstractParamReader(d){read();}
//! Set Cuboid box
/*!
\param cuboid_data
*/
- inline void set_cuboid_bin_data(std::vector<Cuboid>& cuboid_data) {cuboid_box_ = cuboid_data;}
+ inline void setCuboidBinData(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;}
+ inline void setCuboidObstacleData(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_;}
+ inline std::vector<Cuboid> cuboidBin() {return cuboid_box_;}
//! Get Cuboid obstacle
/*!
\return Cuboid obstacle vector
*/
- inline std::vector<Cuboid> cuboid_obstacle() {return cuboid_obstacle_;}
+ inline std::vector<Cuboid> cuboidObstacle() {return cuboid_obstacle_;}
//! read implementatin
void read() override;
diff --git a/include/reader/job_reader.h b/include/reader/job_reader.h
index 76711049f1b5db1aeb23d9587e639ef89aa98f00..b1bd552fbbf1758d799f05bccdf314e44940e20d 100644
--- a/include/reader/job_reader.h
+++ b/include/reader/job_reader.h
@@ -13,7 +13,7 @@
/*!
Reader which returns job data liked to robot
*/
-class Job_reader : public Abstract_param_reader{
+class JobReader : public AbstractParamReader{
protected:
boost::circular_buffer<std::pair<std::string, job_data>> job_data_; //!< FIFO job information
@@ -23,8 +23,8 @@ class Job_reader : public Abstract_param_reader{
Calls read() implementation
\param d ROS Nodehandle
*/
- Job_reader(std::shared_ptr<ros::NodeHandle> const& d)
- : Abstract_param_reader(d)
+ JobReader(std::shared_ptr<ros::NodeHandle> const& d)
+ : AbstractParamReader(d)
{read();}
//! Set Job_data
@@ -32,13 +32,13 @@ class Job_reader : public Abstract_param_reader{
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;}
+ inline void setJobData(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_;}
+ inline boost::circular_buffer<std::pair<std::string, job_data>>& robotData() {return job_data_;}
//! read implementation
void read() override;
diff --git a/include/reader/map_reader.h b/include/reader/map_reader.h
index 5f0faa10523386f914d96149aad72e6dc31e047c..68125140f40dd32cd1f97a1f2d0b21ffac81d260 100644
--- a/include/reader/map_reader.h
+++ b/include/reader/map_reader.h
@@ -12,7 +12,7 @@
/*!
Reads Reachabilty Map vector
*/
-class Map_reader : public Abstract_param_reader{
+class MapReader : public AbstractParamReader{
protected:
std::vector<tf2::Transform> map_data_; //!< Map transforms
@@ -22,19 +22,19 @@ class Map_reader : public Abstract_param_reader{
Calls pure virtual read() methode
\param d Ros Nodehandle
*/
- Map_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ MapReader(std::shared_ptr<ros::NodeHandle> const& d) : AbstractParamReader(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;}
+ inline void setMapData(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_;}
+ inline std::vector<tf2::Transform>& mapData() {return map_data_;}
//! read implementatin
void read() override;
diff --git a/include/reader/robot_reader.h b/include/reader/robot_reader.h
index e0c7eb12c43a2e737d826f67516a98e6bfd3af2c..4dba4724738e4b3b379b93df87f87edfa50064f3 100644
--- a/include/reader/robot_reader.h
+++ b/include/reader/robot_reader.h
@@ -12,7 +12,7 @@
/*!
Reads size and pose data for robot
*/
-class Robot_reader : public Abstract_param_reader{
+class RobotReader : public AbstractParamReader{
protected:
std::vector<object_data> robot_data_; //!< Map of object_data to robot
@@ -22,19 +22,19 @@ class Robot_reader : public Abstract_param_reader{
Calls pure virtual read() methode
\param d ROS nodehandle
*/
- Robot_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ RobotReader(std::shared_ptr<ros::NodeHandle> const& d) : AbstractParamReader(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;}
+ inline void setRobotData(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_;}
+ inline std::vector<object_data> robotData() {return robot_data_;}
//! read implementatin
void read() override;
diff --git a/include/reader/task_space_reader.h b/include/reader/task_space_reader.h
index f36ce61065b3e200017765c258697ab53a4da878..ce327055c8e3c07785bc68147517585e0fc859b4 100644
--- a/include/reader/task_space_reader.h
+++ b/include/reader/task_space_reader.h
@@ -12,14 +12,14 @@
/*!
Reads task space information an writes them into file
*/
-class Task_space_reader : public Abstract_param_reader{
+class TaskSpaceReader : public AbstractParamReader{
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();}
+ TaskSpaceReader(std::shared_ptr<ros::NodeHandle> const& d) : AbstractParamReader(d){read();}
//! read implementatin
void read() override;
diff --git a/include/reader/ts_reader.h b/include/reader/ts_reader.h
index 1e300ca7af67c87779586930cffbc5ab17fdffb0..2b2a9949a90f93511f3dd1e217cddb2fbf58aef0 100644
--- a/include/reader/ts_reader.h
+++ b/include/reader/ts_reader.h
@@ -12,7 +12,7 @@
/*!
Reads task space data
*/
-class Ts_reader : public Abstract_param_reader{
+class TSReader : public AbstractParamReader{
protected:
std::map<const std::string, std::vector<object_data>> drop_off_data_; //!< Map of drop off data to robot
@@ -22,19 +22,19 @@ class Ts_reader : public Abstract_param_reader{
Calls pure virtual read() methode
\param d ROS nodehandle
*/
- Ts_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ TSReader(std::shared_ptr<ros::NodeHandle> const& d) : AbstractParamReader(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_;}
+ inline std::map< const std::string, std::vector<object_data>>& dropOffData() {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;}
+ inline void setDropOffData(std::map< const std::string, std::vector<object_data>>& dod) {drop_off_data_= dod;}
//! read implementatin
void read() override;
diff --git a/include/reader/wing_reader.h b/include/reader/wing_reader.h
index 9fe2c4f7b529d129dc9fae1f2c63814beb47ee8f..fd82a92e77a5de5bb3da64ec3e725a44113e580d 100644
--- a/include/reader/wing_reader.h
+++ b/include/reader/wing_reader.h
@@ -11,7 +11,7 @@
/*!
Reads panel data
*/
-class Wing_reader : public Abstract_param_reader{
+class WingReader : public AbstractParamReader{
protected:
std::map<const std::string, std::pair<std::vector<object_data>, int>> wing_data_; //!< Mask and object data mapped to robot
@@ -21,19 +21,19 @@ class Wing_reader : public Abstract_param_reader{
Calls pure virtual read() methode
\param d ROS nodehandle
*/
- Wing_reader(std::shared_ptr<ros::NodeHandle> const& d) : Abstract_param_reader(d){read();}
+ WingReader(std::shared_ptr<ros::NodeHandle> const& d) : AbstractParamReader(d){read();}
//! 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;}
+ inline void setWingData(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_;}
+ inline std::map<const std::string, std::pair<std::vector<object_data>, int>>& wingData() {return wing_data_;}
//! read implementatin
void read() override;
diff --git a/include/robot/abstract_robot.h b/include/robot/abstract_robot.h
index 470dc063bec66a2c175f21080abdf29198643035..148cbbfd34c5dd8866e56a85172648579b3a3fef 100644
--- a/include/robot/abstract_robot.h
+++ b/include/robot/abstract_robot.h
@@ -18,7 +18,11 @@ enum wing_config{
___ = 0
};
-class Abstract_robot {
+//! Abstract Robot implementation
+/*!
+Defines a Robot as table plus Manipulator on top.
+*/
+class AbstractRobot {
protected:
std::string name_; //!< Name of robot
tf2::Vector3 size_; //!< Size of table
@@ -28,20 +32,20 @@ class Abstract_robot {
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);
+ AbstractRobot(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 tf2::Transform& rootTf()=0;
virtual std::vector<tf2::Transform>& bounds()=0;
- virtual std::vector<tf2::Transform>& robot_root_bounds()=0;
- virtual bool check_single_object_collision(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) =0;
+ virtual std::vector<tf2::Transform>& robotRootBounds()=0;
+ virtual bool checkSingleObjectCollision(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) =0;
inline void size(tf2::Vector3& s) { size_ = s;}
- inline void set_tf(tf2::Transform& t) { tf_ = t;}
+ inline void setTf(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;
@@ -54,7 +58,7 @@ class Abstract_robot {
\param C pose of triagnel vertice
\return float triangle area
*/
- float area_calculation(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C);
+ float areaCalculation(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C);
};
diff --git a/include/robot/ceti_robot.h b/include/robot/ceti_robot.h
index 55dbea1621b446c5b9f4b22635733ef4253cdc74..653eda07f2908e9bd291a8b74dbcaf3e783d7c1c 100644
--- a/include/robot/ceti_robot.h
+++ b/include/robot/ceti_robot.h
@@ -6,15 +6,14 @@
#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"
//! Concrete Ceti-Robot
/*!
Refers especially to Robot-Arms mounted on a table of variable size.
*/
-class Ceti_robot : public Abstract_robot{
+class CetiRobot : public AbstractRobot{
protected:
- std::vector<std::unique_ptr<Abstract_robot_element_decorator>> observers_; //!< Wing shared pointers
+ std::vector<std::unique_ptr<AbstractRobotElementDecorator>> observers_; //!< Wing shared pointers
std::bitset<3> observer_mask_;//!< Bitmap to set observers
@@ -26,22 +25,22 @@ class Ceti_robot : public Abstract_robot{
\param tf Table center pose
\param size Table size
*/
- Ceti_robot(std::string& name, tf2::Transform tf, tf2::Vector3 size);
+ CetiRobot(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_;}
+ tf2::Transform& rootTf() override {return root_tf_;}
std::vector<tf2::Transform>& bounds() override {return bounds_;}
- std::vector<tf2::Transform>& robot_root_bounds() override {return robot_root_bounds_;}
+ std::vector<tf2::Transform>& robotRootBounds() override {return robot_root_bounds_;}
//! Set observers
/*!
\param observer vector
*/
- inline void set_observers(std::vector<std::unique_ptr<Abstract_robot_element_decorator>>& observer) {
+ inline void setObservers(std::vector<std::unique_ptr<AbstractRobotElementDecorator>>& observer) {
for (int i = 0; i < observer.size();i++){
observers_.push_back(std::move(observer[i]));
}
@@ -51,7 +50,7 @@ class Ceti_robot : public Abstract_robot{
/*!
\return observer vector
*/
- inline std::vector<std::unique_ptr<Abstract_robot_element_decorator>>& observers() { return observers_;}
+ inline std::vector<std::unique_ptr<AbstractRobotElementDecorator>>& observers() { return observers_;}
//! Resset all robot properties
void reset();
@@ -62,7 +61,7 @@ class Ceti_robot : public Abstract_robot{
\param R Robot which bounds are to check for collisions
\return bool true if collision, false otherwise
*/
- bool in_collision(Ceti_robot* R);
+ bool inCollision(CetiRobot* R);
//! Collsion calculation for single objects
/*!
@@ -72,7 +71,7 @@ class Ceti_robot : public Abstract_robot{
\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) override;
+ bool checkSingleObjectCollision(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) override;
//! Observer pattern
/*!
@@ -80,8 +79,8 @@ class Ceti_robot : public Abstract_robot{
*/
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);}
+ inline std::bitset<3> observerMask() {return observer_mask_;}
+ inline void setObserverMask(int i) {observer_mask_ = std::bitset<3>(i);}
diff --git a/include/robot/decorators/abstract_robot_decorator.h b/include/robot/decorators/abstract_robot_decorator.h
index 0293047b2ba2f095e63d6660322d60dbd4bddd4a..bf15fdc22a90142b652f7446fff00e379f63e4e0 100644
--- a/include/robot/decorators/abstract_robot_decorator.h
+++ b/include/robot/decorators/abstract_robot_decorator.h
@@ -1,8 +1,7 @@
#ifndef ABSTRACT_ROBOT_DECORATOR_
#define ABSTRACT_ROBOT_DECORATOR_
-#include "ros/ros.h"
-#include "robot/abstract_robot.h"
+#include <ros/ros.h>
#include <moveit/planning_pipeline/planning_pipeline.h>
#include <moveit/planning_scene_interface/planning_scene_interface.h>
@@ -13,13 +12,16 @@
#include <moveit/kinematic_constraints/utils.h>
#include <gb_grasp/MapGenerator.h>
+#include "robot/abstract_robot.h"
+
+
//! Abstract Robot Decorator
/*!
Implements the concept of different manifactures, who can set their own Tf_root area
*/
-class Abstract_robot_decorator : public Abstract_robot{
+class AbstractRobotDecorator : public AbstractRobot{
protected:
- std::unique_ptr<Abstract_robot> next_; //!< Abstract Robot which is mimiced
+ std::unique_ptr<AbstractRobot> next_; //!< Abstract Robot which is mimiced
std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_; //!< MoveGroup Interface for the robots arm
std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_hand_; //!< MoveGroup Interface for the Robots manipulator
@@ -34,8 +36,8 @@ class Abstract_robot_decorator : public Abstract_robot{
initializes Abstract Robot Decorator
\param next Abstract Robot to be mimiced
*/
- 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))
+ AbstractRobotDecorator(std::unique_ptr<AbstractRobot> next)
+ : AbstractRobot("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))
@@ -45,7 +47,7 @@ class Abstract_robot_decorator : public Abstract_robot{
std::string& name() override { return next_->name();}
//! Redirects check_single_object_collision call
- bool check_single_object_collision(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) override { return next_->check_single_object_collision(obj, robot_element, panel_mask);}
+ bool checkSingleObjectCollision(tf2::Transform& obj, std::string& robot_element, std::bitset<3>& panel_mask) override { return next_->checkSingleObjectCollision(obj, robot_element, panel_mask);}
//! Redirects tf call to next_
tf2::Transform& tf() override { return next_->tf();}
@@ -54,13 +56,13 @@ class Abstract_robot_decorator : public Abstract_robot{
tf2::Vector3& size() override { return next_->size();}
//! Redirects root_tf call to next_
- tf2::Transform& root_tf() override { return next_->root_tf();}
+ tf2::Transform& rootTf() override { return next_->rootTf();}
//! Redirects bounds call to next_
std::vector<tf2::Transform>& bounds() override {return next_->bounds();}
//! Redirects robot_root_bounds call to next_
- std::vector<tf2::Transform>& robot_root_bounds() override { return next_->robot_root_bounds();}
+ std::vector<tf2::Transform>& robotRootBounds() override { return next_->robotRootBounds();}
//! Redirects notify call to next_
void notify() override {next_->notify();}
@@ -69,13 +71,13 @@ class Abstract_robot_decorator : public Abstract_robot{
/*!
\return Abstract_robot* to mimiced object
*/
- inline Abstract_robot* next(){return next_.get();}
+ inline AbstractRobot* next(){return next_.get();}
//! Pure virtual function to specify root bounds
- virtual void spezifie_root_bounds()=0;
+ virtual void spezifieRootBounds()=0;
//! Pure virtual function to specify root groupts
- virtual void spezifie_robot_groups()=0;
+ virtual void spezifieRobotGroups()=0;
inline std::string& pattern() {return pattern_;}
@@ -83,7 +85,7 @@ class Abstract_robot_decorator : public Abstract_robot{
inline std::map<std::string, std::string>& map(){return map_;} //!< //!< Mapping of specific task constructor variables
inline std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi() {return mgi_;}
- inline std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgi_hand() {return mgi_hand_;}
+ inline std::shared_ptr<moveit::planning_interface::MoveGroupInterface> mgiHand() {return mgi_hand_;}
};
#endif
\ No newline at end of file
diff --git a/include/robot/decorators/panda_decorator.h b/include/robot/decorators/panda_decorator.h
index 492e114b3175877aaa3fa747a3de2992da50a9e0..034bcea307b72c71843a82618001a5f63469a542 100644
--- a/include/robot/decorators/panda_decorator.h
+++ b/include/robot/decorators/panda_decorator.h
@@ -6,31 +6,31 @@
#include "robot/decorators/abstract_robot_decorator.h"
-//! Panda Mediator
+//! Panda Decorator
/*!
- Decorator who describes the stand-plane/root-area of the 'Franca Emika Panda' Robot
+ Decorator which describes the root-area of the 'Franca Emika Panda' Robot
*/
-class Panda_decorator : public Abstract_robot_decorator{
+class PandaDecorator : public AbstractRobotDecorator{
public:
//! Panda Decorator
/*!
initializes Panda Decorator
\param next Abstract Robot to be mimiced
*/
- Panda_decorator(std::unique_ptr<Abstract_robot> next);
+ PandaDecorator(std::unique_ptr<AbstractRobot> next);
//! Panda Root spezififcation
/*!
Overrides the actual Robot root bounds with a rectangle, described from information of 'Franka Panda' manual
*/
- void spezifie_root_bounds() override;
+ void spezifieRootBounds() override;
//! Panda Mapping spezififcation
/*!
Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor
*/
- void spezifie_robot_groups() override;
+ void spezifieRobotGroups() override;
};
diff --git a/include/robot/decorators/ur10_decorator.h b/include/robot/decorators/ur10_decorator.h
index 714396eb22cf9b578c791dea18a81c0ccc888151..4925f608dcf1a9adce1996d3d9bfe349195885ef 100644
--- a/include/robot/decorators/ur10_decorator.h
+++ b/include/robot/decorators/ur10_decorator.h
@@ -9,7 +9,7 @@
/*!
Decorator who describes the stand-plane/root-area of the 'UR10' Robot
*/
-class UR10_decorator : public Abstract_robot_decorator{
+class UR10Decorator : public AbstractRobotDecorator{
public:
//! UR10 Decorator
@@ -17,19 +17,19 @@ class UR10_decorator : public Abstract_robot_decorator{
initializes UR10 Decorator
\param next Abstract Robot to be mimiced
*/
- UR10_decorator(std::unique_ptr<Abstract_robot> next);
+ UR10Decorator(std::unique_ptr<AbstractRobot> next);
//! UR10 Root spezififcation
/*!
Overrides the actual Robot root bounds with a square, described from information of 'UR10' manual
*/
- void spezifie_root_bounds() override;
+ void spezifieRootBounds() override;
//! UR10 Mapping spezififcation
/*!
Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor
*/
- void spezifie_robot_groups() override;
+ void spezifieRobotGroups() override;
};
diff --git a/include/robot/decorators/ur5_decorator.h b/include/robot/decorators/ur5_decorator.h
index 9832af91a8335137ca742fec811a6e6526bc7f6d..4ff0f884aade849f1dd5bbfc7ad5bac66f9ad545 100644
--- a/include/robot/decorators/ur5_decorator.h
+++ b/include/robot/decorators/ur5_decorator.h
@@ -8,9 +8,9 @@
//! UR5 Decorator
/*!
- Decorator who describes the stand-plane/root-area of the 'UR5' Robot
+ Decorator who describes the root-area of the 'UR5' Robot
*/
-class UR5_decorator : public Abstract_robot_decorator{
+class UR5Decorator : public AbstractRobotDecorator{
public:
//! UR5 Decorator
@@ -18,19 +18,19 @@ class UR5_decorator : public Abstract_robot_decorator{
initializes UR5 Decorator
\param next Abstract Robot to be mimiced
*/
- UR5_decorator(std::unique_ptr<Abstract_robot> next);
+ UR5Decorator(std::unique_ptr<AbstractRobot> next);
//! UR5 Root spezififcation
/*!
Overrides the actual Robot root bounds with a square, described from information of 'UR5' manual
*/
- void spezifie_root_bounds() override;
+ void spezifieRootBounds() override;
//! Panda Mapping spezififcation
/*!
Overrides the actual Robot mappings such as that it can further be used with Moveit Task Constructor
*/
- void spezifie_robot_groups() override;
+ void spezifieRobotGroups() override;
};
diff --git a/include/robot_element/abstract_robot_element.h b/include/robot_element/abstract_robot_element.h
index 59aa4a9e45707d33890218ee32adb1266bfa866d..b4f394d7cc593b0729deb7594ee340357d244bd7 100644
--- a/include/robot_element/abstract_robot_element.h
+++ b/include/robot_element/abstract_robot_element.h
@@ -4,7 +4,7 @@
#include "ros/ros.h"
#include <tf2/LinearMath/Transform.h>
-class Abstract_robot_element {
+class AbstractRobotElement {
protected:
std::string name_;
tf2::Transform relative_tf_;
@@ -14,22 +14,22 @@ class Abstract_robot_element {
std::vector<tf2::Transform> bounds_;
public:
- Abstract_robot_element(tf2::Transform tf, std::string name, tf2::Vector3 size)
+ AbstractRobotElement(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 tf2::Transform& relativeTf(){ return relative_tf_;}
+ inline void setRelativeTf(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;}
+ inline void calcWorldTf(tf2::Transform& tf) {world_tf_= tf * relative_tf_;}
+ inline void setWorldTf(tf2::Transform& tf) { world_tf_ = tf;}
virtual std::vector<tf2::Transform>& bounds()=0;
- virtual tf2::Transform& world_tf()=0;
+ virtual tf2::Transform& worldTf()=0;
virtual tf2::Vector3& size()=0;
virtual std::string& name()=0;
diff --git a/include/robot_element/decorators/abstract_robot_element_decorator.h b/include/robot_element/decorators/abstract_robot_element_decorator.h
index b2ae14813e797f3007807e121e9bb41077c155ba..3beea0276c6e182ddd1c18cc8023f0624417adcf 100644
--- a/include/robot_element/decorators/abstract_robot_element_decorator.h
+++ b/include/robot_element/decorators/abstract_robot_element_decorator.h
@@ -4,27 +4,27 @@
#include "ros/ros.h"
#include "robot_element/abstract_robot_element.h"
-class Abstract_robot_element_decorator : public Abstract_robot_element{
+class AbstractRobotElementDecorator : public AbstractRobotElement{
protected:
std::shared_ptr<ros::NodeHandle> nh_;
- std::unique_ptr<Abstract_robot_element> next_;
+ std::unique_ptr<AbstractRobotElement> 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))
+ AbstractRobotElementDecorator(std::unique_ptr<AbstractRobotElement> next)
+ : AbstractRobotElement(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();}
+ inline AbstractRobotElement* next(){return next_.get();}
std::vector<tf2::Transform>& bounds() override {return next_->bounds();}
- tf2::Transform& world_tf() override {return next_->world_tf();}
+ tf2::Transform& worldTf() override {return next_->worldTf();}
std::string& name() override {return next_->name();}
tf2::Vector3& size() override {return next_->size();}
- virtual void input_filter()=0;
+ virtual void inputFilter()=0;
void update(tf2::Transform& tf) override {next_->update(tf);}
- virtual void output_filter()=0;
+ virtual void outputFilter()=0;
};
diff --git a/include/robot_element/decorators/log_decorator.h b/include/robot_element/decorators/log_decorator.h
index 150a9a581ca35c0cae3d4d92a2852234fb83b4fa..dada9658c12aa2858a7aed2d4176ed121454359b 100644
--- a/include/robot_element/decorators/log_decorator.h
+++ b/include/robot_element/decorators/log_decorator.h
@@ -5,13 +5,13 @@
#include "visualization_msgs/Marker.h"
#include "robot_element/decorators/abstract_robot_element_decorator.h"
-class Log_decorator : public Abstract_robot_element_decorator{
+class LogDecorator : public AbstractRobotElementDecorator{
public:
- Log_decorator(std::unique_ptr<Abstract_robot_element> next);
- void input_filter() override;
+ LogDecorator(std::unique_ptr<AbstractRobotElement> next);
+ void inputFilter() override;
void update(tf2::Transform& tf) override;
- void output_filter() override;
+ void outputFilter() override;
};
diff --git a/include/robot_element/observers/field.h b/include/robot_element/observers/field.h
deleted file mode 100644
index a4459b591e720f0d24d206afdbd53fdea65d7872..0000000000000000000000000000000000000000
--- a/include/robot_element/observers/field.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#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
index 2e983dae9833f6305dd8f26ba0d6ea551132dbfa..b10d249fb1ab6404658ac92a47a49638c3557988 100644
--- a/include/robot_element/observers/moveit_panel.h
+++ b/include/robot_element/observers/moveit_panel.h
@@ -10,12 +10,12 @@
#include <moveit_msgs/ApplyPlanningScene.h>
#include <moveit/planning_scene/planning_scene.h>
-class Moveit_panel : public Panel{
+class MoveitPanel : public Panel{
protected:
moveit_msgs::CollisionObject marker_;
public:
- Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size);
+ MoveitPanel(std::string name, tf2::Transform tf, tf2::Vector3 size);
void update(tf2::Transform& tf) override;
inline moveit_msgs::CollisionObject& marker() {return marker_;}
diff --git a/include/robot_element/observers/panel.h b/include/robot_element/observers/panel.h
index 5c8e3e16a9e4f89e883cb1c85eeee6c94ba9eef0..a9e22c7f1fcf50be6a0c5effbfef1e32bad9c038 100644
--- a/include/robot_element/observers/panel.h
+++ b/include/robot_element/observers/panel.h
@@ -4,17 +4,17 @@
#include "ros/ros.h"
#include "robot_element/abstract_robot_element.h"
-class Panel : public Abstract_robot_element{
+class Panel : public AbstractRobotElement{
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;}
+ inline void setName(std::string str) {name_ = str;}
+ inline void setSize(tf2::Vector3& vec) {size_ = vec;}
- void update(tf2::Transform& tf) override {this->calc_world_tf(tf);}
+ void update(tf2::Transform& tf) override {this->calcWorldTf(tf);}
std::vector<tf2::Transform>& bounds() override {return bounds_;}
- tf2::Transform& world_tf() override {return world_tf_;};
+ tf2::Transform& worldTf() override {return world_tf_;};
std::string& name() override {return name_;}
tf2::Vector3& size() override {return size_;}
diff --git a/include/robot_element/observers/rviz_panel.h b/include/robot_element/observers/rviz_panel.h
index f09a0783407fcf0a5b0dee73b18cedd28b21a345..f0be324c0c4e5f7ac4b562b135dbe00fb3e99f7e 100644
--- a/include/robot_element/observers/rviz_panel.h
+++ b/include/robot_element/observers/rviz_panel.h
@@ -7,12 +7,12 @@
-class Rviz_panel : public Panel{
+class RvizPanel : public Panel{
protected:
visualization_msgs::Marker marker_;
public:
- Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size);
+ RvizPanel(std::string name, tf2::Transform tf, tf2::Vector3 size);
void update(tf2::Transform& tf) override;
inline visualization_msgs::Marker& marker() {return marker_;}
diff --git a/src/base_bridge/simple_base.cpp b/src/base_bridge/simple_base.cpp
index 016ccd0ceeb704438d7f47b2cee9481f495d5c2a..625a6eb510dff521cb05e869ddef0fd9dbb1cca5 100644
--- a/src/base_bridge/simple_base.cpp
+++ b/src/base_bridge/simple_base.cpp
@@ -1,15 +1,15 @@
#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))
+SimpleBase::SimpleBase(std::shared_ptr<ros::NodeHandle> const& d)
+ : AbstractBase(d)
+ , task_space_reader_(std::make_unique<TSReader>(d))
+ , map_reader_(std::make_unique<MapReader>(d))
{
- map_= map_reader_->map_data();
+ map_= map_reader_->mapData();
ROS_INFO("=> RM is known");
- for (auto& s_vod:task_space_reader_->drop_off_data()){
+ for (auto& s_vod:task_space_reader_->dropOffData()){
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));
@@ -17,21 +17,21 @@ Simple_base::Simple_base(std::shared_ptr<ros::NodeHandle> const& d)
ROS_INFO("=> TS is known");
}
-void Simple_base::base_calculation(){
+void SimpleBase::baseCalculation(){
- implementation_->set_grasp_orientations(task_space_);
+ implementation_->setGraspOrientations(task_space_);
ROS_INFO("=> grasp rotations from implenentation object set...");
- implementation_->inv_map_creation(map_, inv_map_, task_space_);
+ implementation_->invMapCreation(map_, inv_map_, task_space_);
ROS_INFO("=> inverse map is set...");
- implementation_->cloud_calculation(inv_map_, task_space_, target_cloud_);
+ implementation_->cloudCalculation(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::vector<pcl::PointXYZ> voxelization = this->createPCLBox();
std::map<const std::string, std::vector<std::vector<int>>> base_target_map;
for (auto& ts: task_space_){
@@ -75,7 +75,7 @@ void Simple_base::base_calculation(){
}
-std::vector<pcl::PointXYZ> Simple_base::create_pcl_box(){
+std::vector<pcl::PointXYZ> AbstractBase::createPCLBox(){
tf2::Vector3 origin(0,0,0);
float resolution = 0.4f;
float diameter = 3.0f;
@@ -98,6 +98,3 @@ std::vector<pcl::PointXYZ> Simple_base::create_pcl_box(){
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
index f99344f4a94559b558cb34bc41cb3c64929e03fb..45f60ff4b16a2d3a37303ef428fcce9798e7ec45 100644
--- a/src/base_bridge/simple_base_implementation.cpp
+++ b/src/base_bridge/simple_base_implementation.cpp
@@ -1,6 +1,6 @@
#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){
+void SimpleBaseImplementation::setGraspOrientations(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);
@@ -13,7 +13,7 @@ void Simple_base_implementation::set_grasp_orientations(std::map<const std::stri
}
}
-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){
+void SimpleBaseImplementation::invMapCreation(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){
@@ -32,7 +32,7 @@ void Simple_base_implementation::inv_map_creation(std::vector<tf2::Transform>& m
}
-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){
+void SimpleBaseImplementation::cloudCalculation(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) {
@@ -43,7 +43,6 @@ void Simple_base_implementation::cloud_calculation(std::vector<tf2::Transform>&
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));
diff --git a/src/base_routine.cpp b/src/base_routine.cpp
deleted file mode 100644
index 237b1298031e9f79c40cd340acd441c98dfc9eff..0000000000000000000000000000000000000000
--- a/src/base_routine.cpp
+++ /dev/null
@@ -1,95 +0,0 @@
-#include "impl/abstract_map_loader.h"
-#include "impl/abstract_strategy.h"
-#include "impl/abstract_robot.h"
-#include "impl/abstract_robot_element.h"
-#include "impl/abstract_robot_element_decorator.h"
-#include "impl/abstract_mediator.h"
-#include "impl/mediator.h"
-#include "impl/wing_rviz_decorator.h"
-#include "impl/field_rviz_decorator.h"
-#include "impl/wing.h"
-#include "impl/field.h"
-#include "impl/robot.h"
-#include "impl/map_loader.h"
-#include "impl/base_by_rotation.h"
-#include <xmlrpcpp/XmlRpc.h>
-#include <filesystem>
-#include "reader/abstract_param_reader.h"
-#include "reader/robot_reader.h"
-#include "reader/wing_reader.h"
-
-#include <moveit_grasps/two_finger_grasp_generator.h>
-#include <moveit_grasps/two_finger_grasp_data.h>
-#include <moveit_grasps/two_finger_grasp_filter.h>
-#include <moveit_grasps/grasp_planner.h>
-
-
-
-
-
-int main(int argc, char **argv){
- ROS_INFO("penis");
- ros::init(argc, argv, "base_routine");
- std::shared_ptr<ros::NodeHandle> n(new ros::NodeHandle);
-
- XmlRpc::XmlRpcValue map, task, resources;
-
- n->getParam("/data",map);
- n->getParam("/objects",resources);
- n->getParam("/task/groups",task);
-
- std::string filename;
- n->getParam("/resource_name", filename);
-
- if(std::filesystem::exists(ros::package::getPath("multi_cell_builder") + "/results/" + filename)) std::filesystem::remove_all(ros::package::getPath("multi_cell_builder") + "/results/" + filename);
- std::filesystem::create_directory(ros::package::getPath("multi_cell_builder") + "/results/" + filename);
-
- Abstract_map_loader* map_loader = new Map_loader(map, task);
- Abstract_strategy* strategy = new Base_by_rotation();
-
- map_loader->set_strategy(strategy);
- std::vector<std::vector<pcl::PointXYZ>> results = map_loader->base_calculation();
-
- Abstract_mediator* mediator = new Mediator(map_loader->task_grasps(), new ros::Publisher(n->advertise< visualization_msgs::MarkerArray >("visualization_marker_array", 1)));
- mediator->set_result_vector(results);
- mediator->set_dirname(filename);
-
-
- 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<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){
- w.pose_ = mediator->robots()[i]->tf().inverse() * w.pose_;
- }
- mediator->robots()[i]->set_observer_mask(static_cast<wing_config>(wd[i].second));
- }
- mediator->set_wings(wd);
- */
-
- 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/bt/execution.cpp b/src/bt/execution.cpp
index 6b0a6f7fc4582626bc6e2e265fd0c51399a3b0b4..a947b593174821ea67f9f14e072e895f7c0c80fa 100644
--- a/src/bt/execution.cpp
+++ b/src/bt/execution.cpp
@@ -3,56 +3,31 @@
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_++;
- ROS_INFO("oihinin");
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_++;
- ROS_INFO("oihinin");
-
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, Abstract_robot_decorator* mr_reference, moveit_task_constructor_msgs::ExecuteTaskSolutionGoal& ets) {
+void Execution::init(std::map<std::string, std::pair<moveit_msgs::RobotTrajectory, moveit_msgs::PlanningScene>>* executions , AbstractRobotDecorator* 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;
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
index ec6467bd19aa2b98d458af90914eff893b084690..ba9d0d3ae86cfb85d5cbbde4865899402f20a173 100644
--- a/src/bt/position_condition.cpp
+++ b/src/bt/position_condition.cpp
@@ -1,15 +1,15 @@
#include "bt/position_condition.h"
-Position_condition::Position_condition(const std::string& name, const BT::NodeConfiguration& config)
+PositionCondition::PositionCondition(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){
+void PositionCondition::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(){
+BT::NodeStatus PositionCondition::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){
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 9bdd02abc54235150df212f7f4228bdbfc8fa4ea..ef2a9957bfbd22229b7d21a93e797c635efbfb34 100644
--- a/src/cell_routine.cpp
+++ b/src/cell_routine.cpp
@@ -23,18 +23,18 @@ int main(int argc, char **argv){
ros::AsyncSpinner spinner(1);
spinner.start();
- std::shared_ptr<Moveit_mediator> mediator = std::make_shared<Moveit_mediator>(n);
+ std::shared_ptr<MoveitMediator> mediator = std::make_shared<MoveitMediator>(n);
- auto rd = mediator->robot_reader()->robot_data();
+ auto rd = mediator->robotReader()->robotData();
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));
+ std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);
+ std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));
+ mediator->connectRobots(std::move(ceti_panda));
}
//mediator->set_dirname(filename);
- mediator->set_panel();
+ mediator->setPanel();
mediator->mediate();
diff --git a/src/mediator/abstract_mediator.cpp b/src/mediator/abstract_mediator.cpp
index c5e74008e652facf2b861c099a463be8f8f22bef..bab33cb35967c4cf1d2a58a0bc1569ba1550b69e 100644
--- a/src/mediator/abstract_mediator.cpp
+++ b/src/mediator/abstract_mediator.cpp
@@ -1,13 +1,13 @@
#include "mediator/abstract_mediator.h"
-Abstract_mediator::Abstract_mediator(std::shared_ptr<ros::NodeHandle> const& d)
+AbstractMediator::AbstractMediator(std::shared_ptr<ros::NodeHandle> const& d)
: nh_(d)
- , task_space_reader_(std::make_unique<Ts_reader>(d))
- , wing_reader_(std::make_unique<Wing_reader>(d))
- , robot_reader_(std::make_unique<Robot_reader>(d))
+ , task_space_reader_(std::make_unique<TSReader>(d))
+ , wing_reader_(std::make_unique<WingReader>(d))
+ , robot_reader_(std::make_unique<RobotReader>(d))
{}
-pcl::PointCloud< pcl::PointXYZ >::Ptr Abstract_mediator::vector_to_cloud(std::vector<pcl::PointXYZ>& vector){
+pcl::PointCloud< pcl::PointXYZ >::Ptr AbstractMediator::vector2cloud(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);
diff --git a/src/mediator/base_calculation_mediator.cpp b/src/mediator/base_calculation_mediator.cpp
index 5a2df0fcec716d841a238ad49f4516ef572250e5..490a306d3f837ee9a12cb2af6f44f94617ff2b86 100644
--- a/src/mediator/base_calculation_mediator.cpp
+++ b/src/mediator/base_calculation_mediator.cpp
@@ -1,7 +1,7 @@
#include "mediator/base_calculation_mediator.h"
-Base_calculation_mediator::Base_calculation_mediator(std::shared_ptr<ros::NodeHandle> const& nh)
- : Abstract_mediator(nh)
+BaseCalculationMediator::BaseCalculationMediator(std::shared_ptr<ros::NodeHandle> const& nh)
+ : AbstractMediator(nh)
, pub_(std::make_unique<ros::Publisher>(nh->advertise< visualization_msgs::MarkerArray >("visualization_marker_array", 1))){
nh_->getParam("/resource_name", filename_);
@@ -10,7 +10,7 @@ Base_calculation_mediator::Base_calculation_mediator(std::shared_ptr<ros::NodeHa
std::filesystem::create_directory(ros::package::getPath("multi_cell_builder") + "/results/" + filename_);
};
-void Base_calculation_mediator::generate_grounds(const tf2::Vector3 origin, const float diameter, float resolution){
+void BaseCalculationMediator::generateGrounds(const tf2::Vector3 origin, const float diameter, float resolution){
for(const auto& s_r : robots_){
std::vector<pcl::PointXYZ> ground_plane;
for (float x = origin.getX() - diameter * 1.5; x <= origin.getX() + diameter * 1.5; x += resolution){
@@ -22,45 +22,45 @@ void Base_calculation_mediator::generate_grounds(const tf2::Vector3 origin, cons
}
}
-void Base_calculation_mediator::connect_robots(std::unique_ptr<Abstract_robot_decorator> robot) {
+void BaseCalculationMediator::connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) {
ROS_INFO("connecting %s...", robot->name().c_str());
robots_.insert_or_assign(robot->name(), std::move(robot));
}
-void Base_calculation_mediator::set_panel(){
- auto wd = wing_reader_->wing_data();
+void BaseCalculationMediator::setPanel(){
+ auto wd = wing_reader_->wingData();
for (const auto& s_r : robots_){
try{
- auto ceti_bot = dynamic_cast<Ceti_robot*>(s_r.second->next());
- ceti_bot->set_observer_mask(static_cast<wing_config>(wd.at(s_r.first).second));
+ auto ceti_bot = dynamic_cast<CetiRobot*>(s_r.second->next());
+ ceti_bot->setObserverMask(static_cast<wing_config>(wd.at(s_r.first).second));
} catch(const std::out_of_range& oor) {
ROS_INFO("No mask data for %s", s_r.first.c_str());
}
}
for (const auto& s_r : robots_){
- auto ceti_bot = dynamic_cast<Ceti_robot*>(s_r.second->next());
- std::vector<std::unique_ptr<Abstract_robot_element_decorator>> panels(3);
+ auto ceti_bot = dynamic_cast<CetiRobot*>(s_r.second->next());
+ std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);
- for (std::size_t j = 0; j < ceti_bot->observer_mask().size(); j++){
- if (ceti_bot->observer_mask()[j]){
+ for (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){
+ if (ceti_bot->observerMask()[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(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);
- std::unique_ptr<Abstract_robot_element_decorator> log = std::make_unique<Log_decorator>(std::move(panel));
+ std::unique_ptr<AbstractRobotElement> panel = std::make_unique<RvizPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);
+ std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(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);
+ ceti_bot->setObservers(panels);
}
}
-bool Base_calculation_mediator::check_collision(const std::string& robot, std::bitset<3>& panel_mask, bool& workload, std::vector<object_data>& ts){
+bool BaseCalculationMediator::checkCollision(const std::string& robot, std::bitset<3>& panel_mask, bool& workload, std::vector<object_data>& ts){
// Visualization workspace definition
std::string str;
@@ -68,9 +68,9 @@ bool Base_calculation_mediator::check_collision(const std::string& robot, std::b
ns << "Targets " << robot;
// Get Robot reference by name
- Ceti_robot* ceti1;
+ CetiRobot* ceti1;
try{
- ceti1 = dynamic_cast<Ceti_robot*>(robots_.at(robot)->next());
+ ceti1 = dynamic_cast<CetiRobot*>(robots_.at(robot)->next());
} catch (std::out_of_range& oor){}
// prepare map for workload check
@@ -99,7 +99,7 @@ bool Base_calculation_mediator::check_collision(const std::string& robot, std::b
marker.scale.z = 0.1f;
// ROS_INFO("%f, %f, %f", ts.at(robot)[i].pose_.getOrigin().getX(), ts.at(robot)[i].pose_.getOrigin().getY(), ts.at(robot)[i].pose_.getOrigin().getZ());
- if(ceti1->check_single_object_collision(ts[i].pose_, str, panel_mask)){
+ if(ceti1->checkSingleObjectCollision(ts[i].pose_, str, panel_mask)){
try {
workload_map.at(str)++;
} catch (std::out_of_range& oor) {
@@ -127,11 +127,11 @@ bool Base_calculation_mediator::check_collision(const std::string& robot, std::b
}
-void Base_calculation_mediator::mediate(){
- generate_grounds(tf2::Vector3(0,0,0), 3.0f, 0.1f);
+void BaseCalculationMediator::mediate(){
+ generateGrounds(tf2::Vector3(0,0,0), 3.0f, 0.1f);
// estimate workcells
- auto ts = task_space_reader_->drop_off_data();
+ auto ts = task_space_reader_->dropOffData();
std::vector<std::vector<std::string>> wcs;
/*
for (auto it = ts.begin(); it != ts.end(); it++){
@@ -170,7 +170,7 @@ void Base_calculation_mediator::mediate(){
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.setInputCloud(AbstractMediator::vector2cloud(result_vector_.at(robot)));
cloud.addPointsFromInputCloud();
for(pcl::PointXYZ& p : grounds_.at(robot)){
@@ -200,7 +200,7 @@ void Base_calculation_mediator::mediate(){
}
}
-void Base_calculation_mediator::calculate(std::map<const std::string, std::vector<tf2::Transform>>& workcell){
+void BaseCalculationMediator::calculate(std::map<const std::string, std::vector<tf2::Transform>>& workcell){
/*
Iterate through map, safe all possible solutions in [[(name, pose, config), (name, pose, config)], [....]]
*/
@@ -208,9 +208,9 @@ void Base_calculation_mediator::calculate(std::map<const std::string, std::vecto
visualization_msgs::MarkerArray ma;
for (auto& s_pos : workcell){
- Ceti_robot* ceti1;
+ CetiRobot* ceti1;
try{
- ceti1 = dynamic_cast<Ceti_robot*>(robots_.at(s_pos.first)->next());
+ ceti1 = dynamic_cast<CetiRobot*>(robots_.at(s_pos.first)->next());
} catch(std::out_of_range& oor){}
visualization_msgs::Marker m;
@@ -236,9 +236,9 @@ void Base_calculation_mediator::calculate(std::map<const std::string, std::vecto
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());
+ for (std::size_t k = 0; k < ceti1->observerMask().size(); k++){
+ if(ceti1->observerMask()[k]){
+ auto wrd = dynamic_cast<RvizPanel*>(ceti1->observers()[k]->next());
ma.markers.push_back(wrd->marker());
}
}
@@ -251,7 +251,7 @@ void Base_calculation_mediator::calculate(std::map<const std::string, std::vecto
for(int j = 5; 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]);
+ ceti1->setTf(s_pos.second[i]);
for ( float p = 0; p < 2*M_PI; p += 0.0872665f){
ceti1->rotate(0.0872665f);
ceti1->notify();
@@ -265,13 +265,13 @@ void Base_calculation_mediator::calculate(std::map<const std::string, std::vecto
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());
+ for (std::size_t k = 0; k < ceti1->observerMask().size(); k++){
+ if(ceti1->observerMask()[k] & wing_config[k]){
+ auto wrd = dynamic_cast<RvizPanel*>(ceti1->observers()[k]->next());
wrd->marker().color.a = 1;
ma.markers.push_back(wrd->marker());
} else if (ceti1->observers()[k]){
- auto wrd = dynamic_cast<Rviz_panel*>(ceti1->observers()[k]->next());
+ auto wrd = dynamic_cast<RvizPanel*>(ceti1->observers()[k]->next());
wrd->marker().color.a = 0;
ma.markers.push_back(wrd->marker());
}
@@ -280,7 +280,7 @@ void Base_calculation_mediator::calculate(std::map<const std::string, std::vecto
ma.markers.clear();
bool workload;
- bool target_collisions = check_collision(s_pos.first, wing_config, workload, task_space_reader_->drop_off_data().at(ceti1->name()));
+ bool target_collisions = checkCollision(s_pos.first, wing_config, workload, task_space_reader_->dropOffData().at(ceti1->name()));
if (workload && target_collisions){
std::vector<protobuf_entry> wc_solution;// std::vector<protobuff> is one workcell solution
@@ -302,18 +302,18 @@ void Base_calculation_mediator::calculate(std::map<const std::string, std::vecto
}
-void Base_calculation_mediator::approximation(std::map<const std::string, std::vector<tf2::Transform>>& workcell, std::vector<protobuf_entry>& wc_solution){
+void BaseCalculationMediator::approximation(std::map<const std::string, std::vector<tf2::Transform>>& workcell, std::vector<protobuf_entry>& wc_solution){
// build access fiels to existing wc_solution
std::vector<tf2::Transform> access_map;
float padding = 0.0025f;
// Choose next robot
- Ceti_robot* next_ceti;
+ CetiRobot* next_ceti;
if (!(workcell.size() == wc_solution.size())){
for (auto& r: workcell){
for (auto& s: wc_solution){
if (!(r.first == s.name_)){
- next_ceti = dynamic_cast<Ceti_robot*>(robots_.at(r.first)->next());
+ next_ceti = dynamic_cast<CetiRobot*>(robots_.at(r.first)->next());
break;
}
}
@@ -323,10 +323,10 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
}
// make task_space unique
- auto ts = task_space_reader_->drop_off_data().at(next_ceti->name());
+ auto ts = task_space_reader_->dropOffData().at(next_ceti->name());
ROS_INFO("%i", ts.size());
for (auto& r: wc_solution){
- for(auto& vec: task_space_reader_->drop_off_data().at(r.name_)){
+ for(auto& vec: task_space_reader_->dropOffData().at(r.name_)){
for (auto it = ts.begin(); it != ts.end();){
if(tf2::tf2Distance2(it->pose_.getOrigin(), vec.pose_.getOrigin()) == 0) {
ts.erase(it);
@@ -338,8 +338,8 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
}
for (auto& r : wc_solution){
- Ceti_robot* ceti = dynamic_cast<Ceti_robot*>(robots_.at(r.name_)->next());
- ceti->set_tf(r.tf_);
+ CetiRobot* ceti = dynamic_cast<CetiRobot*>(robots_.at(r.name_)->next());
+ ceti->setTf(r.tf_);
ceti->notify();
for (int i = 0; i <= 2; i++){
@@ -402,9 +402,9 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
m.color.b = 1.0;
m.color.a = 1.0;
- for (std::size_t k = 0; k < next_ceti->observer_mask().size(); k++){
- if(next_ceti->observer_mask()[k]){
- auto wrd = dynamic_cast<Rviz_panel*>(next_ceti->observers()[k]->next());
+ for (std::size_t k = 0; k < next_ceti->observerMask().size(); k++){
+ if(next_ceti->observerMask()[k]){
+ auto wrd = dynamic_cast<RvizPanel*>(next_ceti->observers()[k]->next());
ma.markers.push_back(wrd->marker());
}
}
@@ -416,7 +416,7 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
for(int j = 0; j <= 7; j++){
std::bitset<3> wing_config(j);
for (long unsigned int i = 0; i < access_map.size(); i++){
- next_ceti->set_tf(access_map[i]);
+ next_ceti->setTf(access_map[i]);
for ( float p = 0; p < 2*M_PI; p += M_PI/2){
next_ceti->rotate(M_PI/2);
next_ceti->notify();
@@ -430,13 +430,13 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
m.pose.orientation.w = next_ceti->tf().getRotation().getW();
ma.markers.push_back(m);
- for (std::size_t k = 0; k < next_ceti->observer_mask().size(); k++){
- if(next_ceti->observer_mask()[k] & wing_config[k]){
- auto wrd = dynamic_cast<Rviz_panel*>(next_ceti->observers()[k]->next());
+ for (std::size_t k = 0; k < next_ceti->observerMask().size(); k++){
+ if(next_ceti->observerMask()[k] & wing_config[k]){
+ auto wrd = dynamic_cast<RvizPanel*>(next_ceti->observers()[k]->next());
wrd->marker().color.a = 1;
ma.markers.push_back(wrd->marker());
} else if (next_ceti->observers()[k]){
- auto wrd = dynamic_cast<Rviz_panel*>(next_ceti->observers()[k]->next());
+ auto wrd = dynamic_cast<RvizPanel*>(next_ceti->observers()[k]->next());
wrd->marker().color.a = 0;
ma.markers.push_back(wrd->marker());
}
@@ -445,14 +445,14 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
ma.markers.clear();
bool workload;
- bool target_collisions = check_collision(next_ceti->name(), wing_config, workload, ts);
+ bool target_collisions = checkCollision(next_ceti->name(), wing_config, workload, ts);
if(workload && target_collisions) {
wc_solution.push_back({next_ceti->name(), next_ceti->tf(), j});
- if (scene_collision(wc_solution)) {
+ if (sceneCollision(wc_solution)) {
wc_solution.pop_back();
} else {
if ( workcell.size() == wc_solution.size()) {
- write_file(wc_solution);
+ writeFile(wc_solution);
//ros::shutdown();
}
}
@@ -466,21 +466,21 @@ void Base_calculation_mediator::approximation(std::map<const std::string, std::v
ma.markers.clear();
}
-bool Base_calculation_mediator::scene_collision(std::vector<protobuf_entry>& wc_solution){
+bool BaseCalculationMediator::sceneCollision(std::vector<protobuf_entry>& wc_solution){
for(auto& r1 : wc_solution){
std::vector<tf2::Transform> bounds;
for(auto& r2 : wc_solution){
if (r1.name_ == r2.name_) continue;
- auto robot2 = dynamic_cast<Ceti_robot*>(robots_.at(r2.name_)->next());
+ auto robot2 = dynamic_cast<CetiRobot*>(robots_.at(r2.name_)->next());
bounds.push_back(r2.tf_);
- robot2->set_tf(r2.tf_);
+ robot2->setTf(r2.tf_);
robot2->notify();
- bounds.push_back(r2.tf_ * robot2->root_tf() * robot2->robot_root_bounds()[0]);
- bounds.push_back(r2.tf_ * robot2->root_tf() * robot2->robot_root_bounds()[1]);
- bounds.push_back(r2.tf_ * robot2->root_tf() * robot2->robot_root_bounds()[2]);
- bounds.push_back(r2.tf_ * robot2->root_tf() * robot2->robot_root_bounds()[3]);
+ bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[0]);
+ bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[1]);
+ bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[2]);
+ bounds.push_back(r2.tf_ * robot2->rootTf() * robot2->robotRootBounds()[3]);
bounds.push_back(r2.tf_ * robot2->bounds()[0]);
bounds.push_back(r2.tf_ * robot2->bounds()[1]);
@@ -489,24 +489,24 @@ bool Base_calculation_mediator::scene_collision(std::vector<protobuf_entry>& wc_
std::bitset<3> panel_mask(r2.wing_config_);
for(std::size_t i = 0; i < robot2->observers().size(); i++){
- if(robot2->observer_mask()[i] & panel_mask[i]){
- bounds.push_back(robot2->observers()[i]->world_tf());
- bounds.push_back(robot2->observers()[i]->world_tf() * robot2->observers()[i]->bounds()[0]);
- bounds.push_back(robot2->observers()[i]->world_tf() * robot2->observers()[i]->bounds()[1]);
- bounds.push_back(robot2->observers()[i]->world_tf() * robot2->observers()[i]->bounds()[2]);
- bounds.push_back(robot2->observers()[i]->world_tf() * robot2->observers()[i]->bounds()[3]);
+ if(robot2->observerMask()[i] & panel_mask[i]){
+ bounds.push_back(robot2->observers()[i]->worldTf());
+ bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[0]);
+ bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[1]);
+ bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[2]);
+ bounds.push_back(robot2->observers()[i]->worldTf() * robot2->observers()[i]->bounds()[3]);
}
}
}
- auto robot1 = dynamic_cast<Ceti_robot*>(robots_.at(r1.name_)->next());
- robot1->set_tf(r1.tf_);
+ auto robot1 = dynamic_cast<CetiRobot*>(robots_.at(r1.name_)->next());
+ robot1->setTf(r1.tf_);
robot1->notify();
std::bitset<3> panel_mask(r1.wing_config_);
std::string str;
for(int i = 0; i < bounds.size(); i++){
- if (robot1->check_single_object_collision(bounds[i], str, panel_mask)) {
+ if (robot1->checkSingleObjectCollision(bounds[i], str, panel_mask)) {
/*
ROS_INFO("%s, %s, %f, %f, %f", str.c_str(),robot1->name().c_str(), bounds[i].getOrigin().getX(), bounds[i].getOrigin().getY(), bounds[i].getOrigin().getZ());
visualization_msgs::MarkerArray ma;
@@ -552,7 +552,7 @@ void Base_calculation_mediator::write_file(){
}
*/
-void Base_calculation_mediator::write_file(std::vector<protobuf_entry>& wc_solution){
+void BaseCalculationMediator::writeFile(std::vector<protobuf_entry>& wc_solution){
std::stringstream ss;
std::stringstream panel_ss;
std::stringstream root_ss;
@@ -564,8 +564,8 @@ void Base_calculation_mediator::write_file(std::vector<protobuf_entry>& wc_solut
std::smatch match;
std::regex_match(wc_solution[c].name_, match, rx);
- auto ceti = dynamic_cast<Ceti_robot*>(robots_.at(wc_solution[c].name_)->next());
- ceti->set_tf(wc_solution[c].tf_);
+ auto ceti = dynamic_cast<CetiRobot*>(robots_.at(wc_solution[c].name_)->next());
+ ceti->setTf(wc_solution[c].tf_);
ceti->notify();
double r,p,y;
@@ -596,14 +596,14 @@ void Base_calculation_mediator::write_file(std::vector<protobuf_entry>& wc_solut
std::bitset<3> panel_mask(wc_solution[c].wing_config_);
for(std::size_t i = 0; i < ceti->observers().size(); i++){
- if(ceti->observer_mask()[i] & panel_mask[i]){
- float x = ceti->observers()[i]->world_tf().getOrigin().getX();
- float y = ceti->observers()[i]->world_tf().getOrigin().getY();
- float z = ceti->observers()[i]->world_tf().getOrigin().getZ();
- float qx = ceti->observers()[i]->world_tf().getRotation().getX();
- float qy = ceti->observers()[i]->world_tf().getRotation().getY();
- float qz = ceti->observers()[i]->world_tf().getRotation().getZ();
- float qw = ceti->observers()[i]->world_tf().getRotation().getW();
+ if(ceti->observerMask()[i] & panel_mask[i]){
+ float x = ceti->observers()[i]->worldTf().getOrigin().getX();
+ float y = ceti->observers()[i]->worldTf().getOrigin().getY();
+ float z = ceti->observers()[i]->worldTf().getOrigin().getZ();
+ float qx = ceti->observers()[i]->worldTf().getRotation().getX();
+ float qy = ceti->observers()[i]->worldTf().getRotation().getY();
+ float qz = ceti->observers()[i]->worldTf().getRotation().getZ();
+ float qw = ceti->observers()[i]->worldTf().getRotation().getW();
float length = ceti->observers()[i]->size().getX();
float width = ceti->observers()[i]->size().getY();
@@ -612,7 +612,7 @@ void Base_calculation_mediator::write_file(std::vector<protobuf_entry>& wc_solut
}
}
- tf2::Transform tf_arm = wc_solution[c].tf_ * ceti->root_tf();
+ tf2::Transform tf_arm = wc_solution[c].tf_ * ceti->rootTf();
float arm_x = tf_arm.getOrigin().getX();
float arm_y = tf_arm.getOrigin().getY();
float arm_z = tf_arm.getOrigin().getZ();
@@ -643,7 +643,7 @@ void Base_calculation_mediator::write_file(std::vector<protobuf_entry>& wc_solut
o.close();
}
-void Base_calculation_mediator::publish(Ceti_robot* ar){
+void BaseCalculationMediator::publish(CetiRobot* ar){
visualization_msgs::MarkerArray ma;
visualization_msgs::Marker marker;
marker.header.frame_id = "map";
@@ -667,7 +667,7 @@ void Base_calculation_mediator::publish(Ceti_robot* ar){
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());
+ auto wrd = dynamic_cast<RvizPanel*>(ar->observers()[i].get());
ma.markers.push_back(wrd->marker());
}
diff --git a/src/mediator/moveit_mediator.cpp b/src/mediator/moveit_mediator.cpp
index 090cfa7d3ae4593552b78682d6aacc0e13b261c3..25e2736980c745ac43dbfc0fb56f636e2f0f3efa 100644
--- a/src/mediator/moveit_mediator.cpp
+++ b/src/mediator/moveit_mediator.cpp
@@ -9,16 +9,16 @@
#include <actionlib_msgs/GoalStatusArray.h>
#include <chrono>
-Moveit_mediator::Moveit_mediator(std::shared_ptr<ros::NodeHandle> const& nh)
- : Abstract_mediator(nh)
+MoveitMediator::MoveitMediator(std::shared_ptr<ros::NodeHandle> const& nh)
+ : AbstractMediator(nh)
, sampling_planner_(std::make_unique<moveit::task_constructor::solvers::PipelinePlanner>())
, cartesian_planner_(std::make_unique<moveit::task_constructor::solvers::CartesianPath>())
, psi_(std::make_unique<moveit::planning_interface::PlanningSceneInterface>())
, mgi_(std::make_shared<moveit::planning_interface::MoveGroupInterface>("panda_arms"))
, planning_scene_diff_publisher_(std::make_shared<ros::Publisher>(nh_->advertise<moveit_msgs::PlanningScene>("planning_scene", 1)))
, planning_scene_monitor_(std::make_shared<planning_scene_monitor::PlanningSceneMonitor>("robot_description"))
- , job_reader_(std::make_unique<Job_reader>(nh_))
- , cuboid_reader_(std::make_unique<Cuboid_reader>(nh)){
+ , job_reader_(std::make_unique<JobReader>(nh_))
+ , cuboid_reader_(std::make_unique<CuboidReader>(nh)){
if (planning_scene_monitor_->getPlanningScene()){
planning_scene_monitor_->startPublishingPlanningScene(planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
@@ -44,16 +44,16 @@ Moveit_mediator::Moveit_mediator(std::shared_ptr<ros::NodeHandle> const& nh)
};
-void Moveit_mediator::connect_robots(std::unique_ptr<Abstract_robot_decorator> robot) {
+void MoveitMediator::connectRobots(std::unique_ptr<AbstractRobotDecorator> robot) {
ROS_INFO("connecting %s...", robot->name().c_str());
- robot->spezifie_robot_groups();
+ robot->spezifieRobotGroups();
acm_.insert(std::pair<std::string, std::vector<uint8_t>>(robot->map().at("base").c_str(), std::vector<uint8_t>()));
for(auto name: robot->mgi()->getLinkNames()) acm_.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));
- for(auto name: robot->mgi_hand()->getLinkNames()) acm_.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));
+ for(auto name: robot->mgiHand()->getLinkNames()) acm_.insert(std::pair<std::string, std::vector<uint8_t>>(name.c_str(), std::vector<uint8_t>()));
for (auto link : robot->mgi()->getLinkNames()) rs_.insert_or_assign(link, std::vector<std::uint8_t>());
rs_.insert_or_assign(robot->map()["left_finger"], std::vector<std::uint8_t>());
@@ -64,43 +64,37 @@ void Moveit_mediator::connect_robots(std::unique_ptr<Abstract_robot_decorator> r
robots_.insert_or_assign(robot->name(), std::move(robot));
}
-// 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());
-// }
-// }
-void Moveit_mediator::set_panel(){
- auto wd = wing_reader_->wing_data();
+void MoveitMediator::setPanel(){
+ auto wd = wing_reader_->wingData();
for (const auto& s_r : robots_){
try{
- auto ceti_bot = dynamic_cast<Ceti_robot*>(s_r.second->next());
- ceti_bot->set_observer_mask(static_cast<wing_config>(wd.at(s_r.first).second));
+ auto ceti_bot = dynamic_cast<CetiRobot*>(s_r.second->next());
+ ceti_bot->setObserverMask(static_cast<wing_config>(wd.at(s_r.first).second));
} catch(const std::out_of_range& oor) {
ROS_INFO("No mask data for %s", s_r.first.c_str());
}
}
for (const auto& s_r : robots_){
- auto ceti_bot = dynamic_cast<Ceti_robot*>(s_r.second->next());
- std::vector<std::unique_ptr<Abstract_robot_element_decorator>> panels(3);
+ auto ceti_bot = dynamic_cast<CetiRobot*>(s_r.second->next());
+ std::vector<std::unique_ptr<AbstractRobotElementDecorator>> panels(3);
- for (std::size_t j = 0; j < ceti_bot->observer_mask().size(); j++){
- if (ceti_bot->observer_mask()[j]){
+ for (std::size_t j = 0; j < ceti_bot->observerMask().size(); j++){
+ if (ceti_bot->observerMask()[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<Moveit_panel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);
- std::unique_ptr<Abstract_robot_element_decorator> log = std::make_unique<Log_decorator>(std::move(panel));
+ std::unique_ptr<AbstractRobotElement> panel = std::make_unique<MoveitPanel>(wd.at(s_r.first).first[j].name_, relative_tf, wd.at(s_r.first).first[j].size_);
+ std::unique_ptr<AbstractRobotElementDecorator> log = std::make_unique<LogDecorator>(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);
+ ceti_bot->setObservers(panels);
}
for (const auto& s_r : robots_){
@@ -108,15 +102,15 @@ void Moveit_mediator::set_panel(){
}
}
-void Moveit_mediator::publish_tables(){
+void MoveitMediator::publishTables(){
ros::WallDuration sleep_time(1.0);
for (const auto& s_r : robots_){
- auto ceti_bot = dynamic_cast<Ceti_robot*>(s_r.second->next());
+ auto ceti_bot = dynamic_cast<CetiRobot*>(s_r.second->next());
- for (std::size_t k = 0; k < ceti_bot->observer_mask().size(); k++){
- if(ceti_bot->observer_mask()[k]){
- auto wmd = dynamic_cast<Moveit_panel*>(ceti_bot->observers()[k]->next());
+ for (std::size_t k = 0; k < ceti_bot->observerMask().size(); k++){
+ if(ceti_bot->observerMask()[k]){
+ auto wmd = dynamic_cast<MoveitPanel*>(ceti_bot->observers()[k]->next());
psi_->applyCollisionObject(wmd->marker());
acm_.insert(std::pair<std::string, std::vector<uint8_t>>(wmd->marker().id.c_str(), std::vector<uint8_t>()));
sleep_time.sleep();
@@ -125,16 +119,16 @@ void Moveit_mediator::publish_tables(){
}
}
-void Moveit_mediator::mediate(){
- set_panel();
- publish_tables();
- task_planner();
+void MoveitMediator::mediate(){
+ setPanel();
+ publishTables();
+ taskPlanner();
ros::waitForShutdown();
};
-void Moveit_mediator::manipulate_acm(Abstract_robot_decorator* mr, moveit_msgs::PlanningScene& ps){
+void MoveitMediator::manipulateACM(AbstractRobotDecorator* mr, moveit_msgs::PlanningScene& ps){
// First find ID from panda to start with
std::regex rx_panda(mr->pattern());
std::smatch match;
@@ -295,13 +289,13 @@ void Moveit_mediator::manipulate_acm(Abstract_robot_decorator* mr, moveit_msgs::
-void Moveit_mediator::task_planner(){
+void MoveitMediator::taskPlanner(){
/* There are 2 ways to interprete a Task
1. A box position in acm is also the first entry in task,
2. A box position in acm is not the first entry in task, in that case we can might try for each position
*/
- auto jq = job_reader_->robot_data();
- auto cd = cuboid_reader_->cuboid_bin();
+ auto jq = job_reader_->robotData();
+ auto cd = cuboid_reader_->cuboidBin();
//std::vector<std::string> objs = {"bottle1", "bottle2"};
@@ -347,10 +341,8 @@ void Moveit_mediator::task_planner(){
// ----------------------------------
BT::BehaviorTreeFactory factory;
- factory.registerNodeType<Planning_scene>("PS");
- factory.registerNodeType<Trajetory>("Trajetory");
factory.registerNodeType<Execution>("Execution");
- factory.registerNodeType<Position_condition>("Position_condition");
+ factory.registerNodeType<PositionCondition>("PositionCondition");
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;
@@ -365,7 +357,7 @@ void Moveit_mediator::task_planner(){
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;
- Abstract_robot_decorator* ard = nullptr;
+ AbstractRobotDecorator* ard = nullptr;
try{
ard= robots_.at(temp.first).get();
} catch (std::out_of_range& oor){
@@ -375,7 +367,7 @@ void Moveit_mediator::task_planner(){
// loop jobs
for (int k = 1; k < temp.second.jobs_.size(); k++){
- moveit::task_constructor::Task mgt = create_Task(ard, psi_->getObjects().at(s_co.first), temp.second.jobs_[k]);
+ moveit::task_constructor::Task mgt = createTask(ard, psi_->getObjects().at(s_co.first), temp.second.jobs_[k]);
if(mgt.plan(1)) {
moveit_task_constructor_msgs::ExecuteTaskSolutionGoal e;
@@ -451,7 +443,7 @@ void Moveit_mediator::task_planner(){
ss << "<Control ID=\"Parallel_robot\" name=\""<< s_r.first << "\" success_threshold=\""<< task_but_different.at(s_r.first).size() << "\" failure_threshold=\""<< task_but_different.at(s_r.first).size() << "\">\n";
for (auto& p_obj: task_but_different.at(s_r.first)){
ss << "<SequenceStar name=\"root_sequence\">\n";
- ss << "<Condition ID=\"Position_condition\" name=\"Position_condition\"/>\n";
+ ss << "<Condition ID=\"PositionCondition\" name=\"Position_condition\"/>\n";
for(int j = 0; j < std::get<2>(p_obj).size(); j++){
ss << "<Action ID=\"Execution\" name=\"Execution\"/>\n";
}
@@ -475,9 +467,9 @@ void Moveit_mediator::task_planner(){
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;}
+ if(auto condition = dynamic_cast<PositionCondition*>(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++){
- if(auto execution = dynamic_cast<Execution*>(node_it->get())) {ROS_INFO("init Action");execution->init(&executions_, planning_scene_diff_publisher_.get(), s_r.second.get(), std::get<2>(p_obj)[j]);++node_it;}
+ if(auto execution = dynamic_cast<Execution*>(node_it->get())) {ROS_INFO("init Action");execution->init(&executions_, s_r.second.get(), std::get<2>(p_obj)[j]);++node_it;}
}
}
}
@@ -498,7 +490,7 @@ void Moveit_mediator::task_planner(){
for (const auto& s_r : robots_){
try{
auto temp = executions_.at(s_r.first);
- th.push_back(std::thread(&Moveit_mediator::parallel_exec, this, std::ref(*s_r.second.get()), temp.first));
+ th.push_back(std::thread(&MoveitMediator::parallelExec, this, std::ref(*s_r.second.get()), temp.first));
//mr->mgi()->execute(temp.first);
// ROS_INFO("acm in msg");
// for(int k = 0; k < temp.second.allowed_collision_matrix.entry_names.size(); k++){
@@ -507,8 +499,8 @@ void Moveit_mediator::task_planner(){
// std::cout<< "\n";
// }
- manipulate_acm(s_r.second.get(), temp.second);
- merge_ps(ps_m, temp.second, s_r.second.get());
+ manipulateACM(s_r.second.get(), temp.second);
+ mergePS(ps_m, temp.second, s_r.second.get());
executions_.erase(s_r.first);
} catch (std::out_of_range& oor){}
}
@@ -517,7 +509,7 @@ void Moveit_mediator::task_planner(){
t.join();
}
if (is_executing){
- merge_acm(ps_m);
+ mergeACM(ps_m);
planning_scene_diff_publisher_->publish(ps_m);
}
@@ -568,7 +560,7 @@ void Moveit_mediator::task_planner(){
}
-void Moveit_mediator::merge_acm(moveit_msgs::PlanningScene& ps_m){
+void MoveitMediator::mergeACM(moveit_msgs::PlanningScene& ps_m){
moveit_msgs::PlanningScene::_allowed_collision_matrix_type acmt;
acmt.entry_values.resize(acm_.size());
@@ -593,7 +585,7 @@ void Moveit_mediator::merge_acm(moveit_msgs::PlanningScene& ps_m){
}
-void Moveit_mediator::merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, Abstract_robot_decorator* mr){
+void MoveitMediator::mergePS(moveit_msgs::PlanningScene& out, moveit_msgs::PlanningScene in, AbstractRobotDecorator* mr){
// get full mr link list
for (auto ao : in.robot_state.attached_collision_objects) out.robot_state.attached_collision_objects.push_back(ao);
@@ -633,11 +625,11 @@ void Moveit_mediator::merge_ps(moveit_msgs::PlanningScene& out, moveit_msgs::Pla
}
-void Moveit_mediator::parallel_exec(Abstract_robot_decorator& mr, moveit_msgs::RobotTrajectory rt){
+void MoveitMediator::parallelExec(AbstractRobotDecorator& mr, moveit_msgs::RobotTrajectory rt){
mr.mgi()->execute(rt);
}
-moveit::task_constructor::Task Moveit_mediator::create_Task(Abstract_robot_decorator* mr, moveit_msgs::CollisionObject& source, tf2::Transform& target){
+moveit::task_constructor::Task MoveitMediator::createTask(AbstractRobotDecorator* 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";
std::string support_surface2 = "nichts";
@@ -645,8 +637,8 @@ moveit::task_constructor::Task Moveit_mediator::create_Task(Abstract_robot_decor
for (const auto& s_r : robots_){
std::string str;
std::bitset<3> panel_mask;
- if(s_r.second->check_single_object_collision(t, str, panel_mask)) support_surface1 = str;
- if(s_r.second->check_single_object_collision(target, str, panel_mask)) support_surface2= str;
+ if(s_r.second->checkSingleObjectCollision(t, str, panel_mask)) support_surface1 = str;
+ if(s_r.second->checkSingleObjectCollision(target, str, panel_mask)) support_surface2= str;
}
ROS_INFO("ss1 %s", support_surface1.c_str());
diff --git a/src/mtc2taskspace.cpp b/src/mtc2taskspace.cpp
index e73a81b69cc752585ca88d1c0bfecf5ee0bee468..cd07990f5ae29b656c4c07f6c01b476999737f8d 100644
--- a/src/mtc2taskspace.cpp
+++ b/src/mtc2taskspace.cpp
@@ -10,7 +10,7 @@ int main(int argc, char **argv){
std::shared_ptr<ros::NodeHandle> n(new ros::NodeHandle);
//std::unique_ptr<Abstract_param_reader> ts_reader(new Task_space_reader(n));
- std::unique_ptr<Abstract_param_reader> ts_reader(new Job_reader(n));
+ std::unique_ptr<AbstractParamReader> ts_reader(new JobReader(n));
return 0;
}
\ No newline at end of file
diff --git a/src/reader/abstract_param_reader.cpp b/src/reader/abstract_param_reader.cpp
index 8dcd4126922236d18e474cd804d04db6eedb9020..0218bc310cab4f01a91acfc2be48096340216b2c 100644
--- a/src/reader/abstract_param_reader.cpp
+++ b/src/reader/abstract_param_reader.cpp
@@ -1,6 +1,6 @@
#include "reader/abstract_param_reader.h"
-float Abstract_param_reader::float_of(XmlRpc::XmlRpcValue& val){
+float AbstractParamReader::floatOf(XmlRpc::XmlRpcValue& val){
float t = 0;
try{
switch (val.getType()){
diff --git a/src/reader/cuboid_reader.cpp b/src/reader/cuboid_reader.cpp
index e95a8c33652633346fd6b715e31a15cf3bdf7285..085795bcdc90e52878b8b9312c3ed2451d935a29 100644
--- a/src/reader/cuboid_reader.cpp
+++ b/src/reader/cuboid_reader.cpp
@@ -1,6 +1,6 @@
#include "reader/cuboid_reader.h"
-void Cuboid_reader::read(){
+void CuboidReader::read(){
ROS_INFO("--- CUBOID_READER ---");
XmlRpc::XmlRpcValue resources;
nh_->getParam("/objects", resources);
@@ -12,17 +12,17 @@ void Cuboid_reader::read(){
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]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(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")) ? 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);
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"])) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(resources[i]["orientation"]["w"])) :rot.setW(0);
Cuboid o;
o.Name = id.c_str();
@@ -50,17 +50,17 @@ void Cuboid_reader::read(){
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]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(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")) ? 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);
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"])) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(resources[i]["orientation"]["w"])) :rot.setW(0);
Cuboid o;
o.Name = id.c_str();
diff --git a/src/reader/job_reader.cpp b/src/reader/job_reader.cpp
index 07d081f157b6bf7da52c6faa5cfe0e9d914c1345..45d561ddbd1da717e4344245208fb754445f99ae 100644
--- a/src/reader/job_reader.cpp
+++ b/src/reader/job_reader.cpp
@@ -2,7 +2,7 @@
#include <queue>
#include "boost/circular_buffer.hpp"
-void Job_reader::read(){
+void JobReader::read(){
ROS_INFO("--- JOB_READER ---");
XmlRpc::XmlRpcValue resources;
nh_->getParam("/tasks/groups", resources);
@@ -26,13 +26,13 @@ void Job_reader::read(){
tf2::Quaternion rot;
- (job_data["pos"].hasMember("x")) ? pos.setX(float_of(job_data["pos"]["x"])) :pos.setX(0);
- (job_data["pos"].hasMember("y")) ? pos.setY(float_of(job_data["pos"]["y"])) :pos.setY(0);
- (job_data["pos"].hasMember("z")) ? pos.setZ(float_of(job_data["pos"]["z"])) :pos.setZ(0);
- (job_data["orientation"].hasMember("x")) ? rot.setX(float_of(job_data["orientation"]["x"])) :rot.setX(0);
- (job_data["orientation"].hasMember("y")) ? rot.setY(float_of(job_data["orientation"]["y"])) :rot.setY(0);
- (job_data["orientation"].hasMember("z")) ? rot.setZ(float_of(job_data["orientation"]["z"])) :rot.setZ(0);
- (job_data["orientation"].hasMember("w")) ? rot.setW(float_of(job_data["orientation"]["w"])) :rot.setW(0);
+ (job_data["pos"].hasMember("x")) ? pos.setX(floatOf(job_data["pos"]["x"])) :pos.setX(0);
+ (job_data["pos"].hasMember("y")) ? pos.setY(floatOf(job_data["pos"]["y"])) :pos.setY(0);
+ (job_data["pos"].hasMember("z")) ? pos.setZ(floatOf(job_data["pos"]["z"])) :pos.setZ(0);
+ (job_data["orientation"].hasMember("x")) ? rot.setX(floatOf(job_data["orientation"]["x"])) :rot.setX(0);
+ (job_data["orientation"].hasMember("y")) ? rot.setY(floatOf(job_data["orientation"]["y"])) :rot.setY(0);
+ (job_data["orientation"].hasMember("z")) ? rot.setZ(floatOf(job_data["orientation"]["z"])) :rot.setZ(0);
+ (job_data["orientation"].hasMember("w")) ? rot.setW(floatOf(job_data["orientation"]["w"])) :rot.setW(0);
ROS_INFO("=> Grab: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
@@ -43,7 +43,7 @@ void Job_reader::read(){
}
}
- set_job_data(cb_jd);
+ setJobData(cb_jd);
// validate
diff --git a/src/reader/map_reader.cpp b/src/reader/map_reader.cpp
index 0fedf2819b0cc470a50b07ad899be49b5cda57d9..9082316e8ade87cb4d46a88bb169ed5de2684985 100644
--- a/src/reader/map_reader.cpp
+++ b/src/reader/map_reader.cpp
@@ -1,6 +1,6 @@
#include "reader/map_reader.h"
-void Map_reader::read(){
+void MapReader::read(){
XmlRpc::XmlRpcValue resources;
nh_->getParam("/data", resources);
@@ -12,15 +12,15 @@ void Map_reader::read(){
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);
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"])) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(resources[i]["orientation"]["w"])) :rot.setW(0);
map_data.push_back(tf2::Transform(rot, pos));
}
- set_map_data(map_data);
+ setMapData(map_data);
}
diff --git a/src/reader/robot_reader.cpp b/src/reader/robot_reader.cpp
index e4a0e2471c42b9935448cb8b12b7ccbd8716c673..534914312436a447cd835450d52eb4db1c9845e1 100644
--- a/src/reader/robot_reader.cpp
+++ b/src/reader/robot_reader.cpp
@@ -1,6 +1,6 @@
#include "reader/robot_reader.h"
-void Robot_reader::read(){
+void RobotReader::read(){
ROS_INFO("--- ROBOT_READER ---");
XmlRpc::XmlRpcValue resources;
nh_->getParam("/objects", resources);
@@ -17,17 +17,17 @@ void Robot_reader::read(){
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]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(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) /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);
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ((floatOf(resources[i]["pos"]["z"]) + size.getZ()/2) /2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(resources[i]["orientation"]["w"])) :rot.setW(0);
ROS_INFO("--- Robot: %s ---", ss.str().c_str());
ROS_INFO("=> Robot: pos('%f', '%f', '%f')", pos.getX(), pos.getY(), pos.getZ());
diff --git a/src/reader/task_space_reader.cpp b/src/reader/task_space_reader.cpp
index 7515f1e8f34fc26d706a105d56dd9bff84e96c42..cce593ddff850405e1cabfeff376e5bcc1bbd3da 100644
--- a/src/reader/task_space_reader.cpp
+++ b/src/reader/task_space_reader.cpp
@@ -1,7 +1,7 @@
#include "reader/task_space_reader.h"
-void Task_space_reader::read(){
+void TaskSpaceReader::read(){
std::string filename = "dummy.yaml";
//nh_->getParam("/resource_name", filename);
@@ -44,9 +44,9 @@ void Task_space_reader::read(){
if (robot_pointer){
tf2::Vector3 pos(0,0,0);
- (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]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"])) :pos.setZ(0);
robot_pointer->push_back(pos);
}
}
diff --git a/src/reader/ts_reader.cpp b/src/reader/ts_reader.cpp
index 7a7c8f646d5025949a8090d7bc107e0ac3e031ba..503a65c48f716d416031c2c55532baf25c7af72f 100644
--- a/src/reader/ts_reader.cpp
+++ b/src/reader/ts_reader.cpp
@@ -1,6 +1,6 @@
#include "reader/ts_reader.h"
-void Ts_reader::read(){
+void TSReader::read(){
XmlRpc::XmlRpcValue resources;
nh_->getParam("/objects", resources);
@@ -42,18 +42,18 @@ void Ts_reader::read(){
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]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(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]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(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);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(resources[i]["orientation"]["w"])) :rot.setW(0);
robot_pointer->push_back({"", tf2::Transform(rot, pos), size});
}
@@ -67,5 +67,5 @@ void Ts_reader::read(){
}
}
- set_drop_off_data(map);
+ setDropOffData(map);
}
\ No newline at end of file
diff --git a/src/reader/wing_reader.cpp b/src/reader/wing_reader.cpp
index d88a9b9d213d1f55184bf456afab14e49904e2c5..3b7c2f77046a86bc4a38760e03f10dd1ac9d6102 100644
--- a/src/reader/wing_reader.cpp
+++ b/src/reader/wing_reader.cpp
@@ -1,6 +1,6 @@
#include "reader/wing_reader.h"
-void Wing_reader::read(){
+void WingReader::read(){
XmlRpc::XmlRpcValue resources;
nh_->getParam("/objects", resources);
@@ -42,17 +42,17 @@ void Wing_reader::read(){
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]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(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);
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(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());
@@ -89,17 +89,17 @@ void Wing_reader::read(){
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);
+ (resources[i]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(resources[i]["size"]["height"])) :size.setZ(0);
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(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());
@@ -136,17 +136,17 @@ void Wing_reader::read(){
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);
+ (resources[i]["size"].hasMember("length")) ? size.setX(floatOf(resources[i]["size"]["length"])) :size.setX(0);
+ (resources[i]["size"].hasMember("width")) ? size.setY(floatOf(resources[i]["size"]["width"])) :size.setY(0);
+ (resources[i]["size"].hasMember("height")) ? size.setZ(floatOf(resources[i]["size"]["height"])) :size.setZ(0);
+
+ (resources[i]["pos"].hasMember("x")) ? pos.setX(floatOf(resources[i]["pos"]["x"])) :pos.setX(0);
+ (resources[i]["pos"].hasMember("y")) ? pos.setY(floatOf(resources[i]["pos"]["y"])) :pos.setY(0);
+ (resources[i]["pos"].hasMember("z")) ? pos.setZ(floatOf(resources[i]["pos"]["z"]) + size.getZ()/2) :pos.setZ(0);
+ (resources[i]["orientation"].hasMember("x")) ? rot.setX(floatOf(resources[i]["orientation"]["x"])) :rot.setX(0);
+ (resources[i]["orientation"].hasMember("y")) ? rot.setY(floatOf(resources[i]["orientation"]["y"])) :rot.setY(0);
+ (resources[i]["orientation"].hasMember("z")) ? rot.setZ(floatOf(resources[i]["orientation"]["z"])) :rot.setZ(0);
+ (resources[i]["orientation"].hasMember("w")) ? rot.setW(floatOf(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());
@@ -167,5 +167,5 @@ void Wing_reader::read(){
ROS_INFO("Iteration error in left panel search");
ros::shutdown();
}
- set_wing_data(map);
+ setWingData(map);
}
diff --git a/src/robot/abstract_robot.cpp b/src/robot/abstract_robot.cpp
index 5bdb604e43bff33c1b1d6f602408b01fe8fe0606..f69c7c38eb3d4daaa9928c56c19ffcd81efec2fc 100644
--- a/src/robot/abstract_robot.cpp
+++ b/src/robot/abstract_robot.cpp
@@ -1,7 +1,7 @@
#include "robot/abstract_robot.h"
-Abstract_robot::Abstract_robot(std::string name, tf2::Transform tf, tf2::Vector3 size)
+AbstractRobot::AbstractRobot(std::string name, tf2::Transform tf, tf2::Vector3 size)
: name_(name)
, tf_(tf)
, size_(size){
@@ -19,7 +19,7 @@ Abstract_robot::Abstract_robot(std::string name, tf2::Transform tf, tf2::Vector3
robot_root_bounds_.push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.1f, -0.1f, 0)));
}
-float Abstract_robot::area_calculation(tf2::Transform& A, tf2::Transform& B, tf2::Transform& C){
+float AbstractRobot::areaCalculation(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()) +
diff --git a/src/robot/ceti_robot.cpp b/src/robot/ceti_robot.cpp
index e28f5c5ab6eb00347bd21389adeb890ee8f3a465..4e22156d4160e0ea80b5e4b6574f5c89ec3342e3 100644
--- a/src/robot/ceti_robot.cpp
+++ b/src/robot/ceti_robot.cpp
@@ -1,13 +1,13 @@
#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)
+CetiRobot::CetiRobot(std::string& name, tf2::Transform tf, tf2::Vector3 size)
+: AbstractRobot(name, tf, size)
, observer_mask_(std::bitset<3>(0))
{}
-bool Ceti_robot::check_single_object_collision(tf2::Transform& obj, std::string& str, std::bitset<3>& panel_mask){
+bool CetiRobot::checkSingleObjectCollision(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];
@@ -15,8 +15,8 @@ bool Ceti_robot::check_single_object_collision(tf2::Transform& obj, std::string&
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);
+ float full_area = areaCalculation(A,B,C) + areaCalculation(A,D,C);
+ float sum = areaCalculation(A,obj,D) + areaCalculation(D,obj,C) + areaCalculation(C,obj,B) + areaCalculation(obj, B, A);
if ((std::floor(sum*1000)/1000.f) <= full_area) {return false; }
// 2. table_top check
@@ -31,8 +31,8 @@ bool Ceti_robot::check_single_object_collision(tf2::Transform& obj, std::string&
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);
+ full_area = areaCalculation(A,B,C) + areaCalculation(A,D,C);
+ sum = areaCalculation(A,obj,D) + areaCalculation(D,obj,C) + areaCalculation(C,obj,B) + areaCalculation(obj, B, A);
if ((std::floor(sum*1000)/1000.f) <= full_area){
ROS_INFO("%f %f, %f", std::floor(sum*1000)/1000.f, full_area, sum);
str = ss.str();
@@ -43,13 +43,13 @@ bool Ceti_robot::check_single_object_collision(tf2::Transform& obj, std::string&
for(std::size_t i = 0; i < observers_.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];
+ tf2::Transform A = observers_[i]->worldTf() * observers_[i]->bounds()[0];
+ tf2::Transform B = observers_[i]->worldTf() * observers_[i]->bounds()[1];
+ tf2::Transform C = observers_[i]->worldTf() * observers_[i]->bounds()[2];
+ tf2::Transform D = observers_[i]->worldTf() * 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);
+ full_area = areaCalculation(A,B,C) + areaCalculation(A,D,C);
+ sum = areaCalculation(A,obj,D) + areaCalculation(D,obj,C) + areaCalculation(C,obj,B) + areaCalculation(obj, B, A);
if ((std::floor(sum*1000)/1000.f) <= full_area) {
str = observers_[i]->name();
return true;
@@ -60,53 +60,53 @@ bool Ceti_robot::check_single_object_collision(tf2::Transform& obj, std::string&
return false;
}
-void Ceti_robot::reset(){
+void CetiRobot::reset(){
observers_.clear();
tf_ = tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0,0, tf().getOrigin().getZ()));
}
-void Ceti_robot::notify(){
+void CetiRobot::notify(){
for(int i = 0; i < observers_.size(); i++) if(observers_[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){
+bool CetiRobot::inCollision(CetiRobot* 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);
+ float full_area = areaCalculation(A,B,C) + areaCalculation(A,D,C);
+ float sum = areaCalculation(A,rob->tf(),D) + areaCalculation(D,rob->tf(),C) + areaCalculation(C,rob->tf(),B) + areaCalculation(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;
+ tf2::Transform WA = rob->observers()[i]->worldTf() * rob->observers()[i]->bounds()[0];
+ tf2::Transform WB = rob->observers()[i]->worldTf() * rob->observers()[i]->bounds()[1];
+ tf2::Transform WC = rob->observers()[i]->worldTf() * rob->observers()[i]->bounds()[2];
+ tf2::Transform WD = rob->observers()[i]->worldTf() * rob->observers()[i]->bounds()[3];
+ sum = areaCalculation(A,WA,D) + areaCalculation(D,WA,C) + areaCalculation(C,WA,B) + areaCalculation(WA, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = areaCalculation(A,WB,D) + areaCalculation(D,WB,C) + areaCalculation(C,WB,B) + areaCalculation(WB, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = areaCalculation(A,WC,D) + areaCalculation(D,WC,C) + areaCalculation(C,WC,B) + areaCalculation(WC, B, A); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = areaCalculation(A,WD,D) + areaCalculation(D,WD,C) + areaCalculation(C,WD,B) + areaCalculation(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];
+ tf2::Transform WA = observers_[i]->worldTf() * observers_[i]->bounds()[0];
+ tf2::Transform WB = observers_[i]->worldTf() * observers_[i]->bounds()[1];
+ tf2::Transform WC = observers_[i]->worldTf() * observers_[i]->bounds()[2];
+ tf2::Transform WD = observers_[i]->worldTf() * observers_[i]->bounds()[3];
- full_area = area_calculation(WA,WB,WC) + area_calculation(WA,WD,WC);
+ full_area = areaCalculation(WA,WB,WC) + areaCalculation(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;
+ tf2::Transform WA2 = rob->observers()[j]->worldTf() * observers_[j]->bounds()[0];
+ tf2::Transform WB2 = rob->observers()[j]->worldTf() * observers_[j]->bounds()[1];
+ tf2::Transform WC2 = rob->observers()[j]->worldTf() * observers_[j]->bounds()[2];
+ tf2::Transform WD2 = rob->observers()[j]->worldTf() * observers_[j]->bounds()[3];
+ sum = areaCalculation(WA,WA2,WD) + areaCalculation(WD,WA2,WC) + areaCalculation(WC,WA2,WB) + areaCalculation(WA2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = areaCalculation(WA,WB2,WD) + areaCalculation(WD,WB2,WC) + areaCalculation(WC,WB2,WB) + areaCalculation(WB2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = areaCalculation(WA,WC2,WD) + areaCalculation(WD,WC2,WC) + areaCalculation(WC,WC2,WB) + areaCalculation(WC2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
+ sum = areaCalculation(WA,WD2,WD) + areaCalculation(WD,WD2,WC) + areaCalculation(WC,WD2,WB) + areaCalculation(WD2, WB, WA); if ((std::floor(sum*100)/100.f) <= full_area) return true;
}
}
return false;
diff --git a/src/robot/decorators/panda_decorator.cpp b/src/robot/decorators/panda_decorator.cpp
index 80a41c77d95f027aa408898ffb60137018c209ca..60a16bb6ab0fa85b998f32917855633046934af0 100644
--- a/src/robot/decorators/panda_decorator.cpp
+++ b/src/robot/decorators/panda_decorator.cpp
@@ -1,23 +1,23 @@
#include "robot/decorators/panda_decorator.h"
#include <regex>
-Panda_decorator::Panda_decorator(std::unique_ptr<Abstract_robot> next)
- : Abstract_robot_decorator(std::move(next))
+PandaDecorator::PandaDecorator(std::unique_ptr<AbstractRobot> next)
+ : AbstractRobotDecorator(std::move(next))
{
pattern_ = "panda_arm([0-9]+)";
- spezifie_root_bounds();
+ spezifieRootBounds();
}
-void Panda_decorator::spezifie_root_bounds(){
+void PandaDecorator::spezifieRootBounds(){
// panda 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)));
+ next_->robotRootBounds().clear();
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, 0.095f, 0))); // ++
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, 0.095f, 0))); // +-
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.113f, -0.095f, 0)));
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.113f, -0.095f, 0)));
}
-void Panda_decorator::spezifie_robot_groups(){
+void PandaDecorator::spezifieRobotGroups(){
mgi_ = std::make_shared<moveit::planning_interface::MoveGroupInterface>(next_->name());
std::stringstream hand_n, ik_frame_n, name_n, base_n;
diff --git a/src/robot/decorators/ur10_decorator.cpp b/src/robot/decorators/ur10_decorator.cpp
index bc8e0bebbf29e77d2673ffc4c2ac179f3324dbea..90f26f861abc4875c457463f8e4fb812d65ea8be 100644
--- a/src/robot/decorators/ur10_decorator.cpp
+++ b/src/robot/decorators/ur10_decorator.cpp
@@ -1,25 +1,25 @@
#include "robot/decorators/ur10_decorator.h"
#include <regex>
-UR10_decorator::UR10_decorator(std::unique_ptr<Abstract_robot> next)
- : Abstract_robot_decorator(std::move(next))
+UR10Decorator::UR10Decorator(std::unique_ptr<AbstractRobot> next)
+ : AbstractRobotDecorator(std::move(next))
{
- spezifie_root_bounds();
+ spezifieRootBounds();
// spezifie_robot_groups();
}
-void UR10_decorator::spezifie_root_bounds(){
+void UR10Decorator::spezifieRootBounds(){
// panda root
- next_->robot_root_bounds().clear();
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.095f, 0.095f, 0))); // ++
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.095f, 0.095f, 0))); // +-
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.095f, -0.095f, 0)));
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.095f, -0.095f, 0)));
+ next_->robotRootBounds().clear();
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.095f, 0.095f, 0))); // ++
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.095f, 0.095f, 0))); // +-
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.095f, -0.095f, 0)));
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.095f, -0.095f, 0)));
}
-void UR10_decorator::spezifie_robot_groups(){
+void UR10Decorator::spezifieRobotGroups(){
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");
diff --git a/src/robot/decorators/ur5_decorator.cpp b/src/robot/decorators/ur5_decorator.cpp
index a3f724a7c099a73497bccc328c820fb54806f481..c0b772f3e4aa7a3c1c72c0a7e1e9b6b4d5754758 100644
--- a/src/robot/decorators/ur5_decorator.cpp
+++ b/src/robot/decorators/ur5_decorator.cpp
@@ -1,25 +1,25 @@
#include "robot/decorators/ur5_decorator.h"
#include <regex>
-UR5_decorator::UR5_decorator(std::unique_ptr<Abstract_robot> next)
- : Abstract_robot_decorator(std::move(next))
+UR5Decorator::UR5Decorator(std::unique_ptr<AbstractRobot> next)
+ : AbstractRobotDecorator(std::move(next))
{
- spezifie_root_bounds();
+ spezifieRootBounds();
// spezifie_robot_groups();
}
-void UR5_decorator::spezifie_root_bounds(){
+void UR5Decorator::spezifieRootBounds(){
// panda root
- next_->robot_root_bounds().clear();
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.0745f, 0.0745f, 0))); // ++
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.0745f, 0.0745f, 0))); // +-
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.0745f, -0.0745f, 0)));
- next_->robot_root_bounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.0745f, -0.0745f, 0)));
+ next_->robotRootBounds().clear();
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.0745f, 0.0745f, 0))); // ++
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.0745f, 0.0745f, 0))); // +-
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(-0.0745f, -0.0745f, 0)));
+ next_->robotRootBounds().push_back(tf2::Transform(tf2::Quaternion(0,0,0,1), tf2::Vector3(0.0745f, -0.0745f, 0)));
}
-void UR5_decorator::spezifie_robot_groups(){
+void UR5Decorator::spezifieRobotGroups(){
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");
diff --git a/src/robot_base_calculation_approach.cpp b/src/robot_base_calculation_approach.cpp
index 4b683eecfe678832a88f403fd9e194172d1cfac1..29c67db7d311981b1166e69770d06db1fbedb231 100644
--- a/src/robot_base_calculation_approach.cpp
+++ b/src/robot_base_calculation_approach.cpp
@@ -1,30 +1,23 @@
-
#include <xmlrpcpp/XmlRpc.h>
-#include <filesystem>
+#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"
@@ -33,25 +26,25 @@ 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);
+ std::shared_ptr<AbstractBase> simple_base = std::make_shared<SimpleBase>(n);
+ std::shared_ptr<AbstractBaseImplementation> simple_base_implementation = std::make_shared<SimpleBaseImplementation>();
+ std::shared_ptr<BaseCalculationMediator> mediator = std::make_shared<BaseCalculationMediator>(n);
- simple_base->set_implementation(simple_base_implementation);
+ simple_base->setImplementation(simple_base_implementation);
- simple_base->base_calculation();
+ simple_base->baseCalculation();
- auto rd = mediator->robot_reader()->robot_data();
+ auto rd = mediator->robotReader()->robotData();
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));
+ std::unique_ptr<AbstractRobot> ceti = std::make_unique<CetiRobot>(rd[i].name_, rd[i].pose_, rd[i].size_);
+ std::unique_ptr<PandaDecorator> ceti_panda = std::make_unique<PandaDecorator>(std::move(ceti));
+ mediator->connectRobots(std::move(ceti_panda));
}
- mediator->set_result_vector(simple_base->result());
+ mediator->setResultVector(simple_base->result());
//mediator->set_dirname(filename);
- mediator->set_panel();
+ mediator->setPanel();
mediator->mediate();
return 0;
diff --git a/src/robot_element/decorators/log_decorator.cpp b/src/robot_element/decorators/log_decorator.cpp
index 946c37dd57aa186683b36530cfa0a542b042e2f1..8854070b25de4743e487a06d1433bbc611b23976 100644
--- a/src/robot_element/decorators/log_decorator.cpp
+++ b/src/robot_element/decorators/log_decorator.cpp
@@ -1,26 +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))
+LogDecorator::LogDecorator(std::unique_ptr<AbstractRobotElement> next)
+: AbstractRobotElementDecorator(std::move(next))
{
ROS_INFO("LOG Decorator: %s", next_->name().c_str());
}
-void Log_decorator::input_filter() {
+void LogDecorator::inputFilter() {
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());
+ ROS_INFO("=> Debug: pos('%f', '%f', '%f')", worldTf().getOrigin().getX(), worldTf().getOrigin().getY(), worldTf().getOrigin().getZ());
+ ROS_INFO("=> Debug: orientation('%f', '%f', '%f', '%f')", worldTf().getRotation().getX(), worldTf().getRotation().getY(), worldTf().getRotation().getZ(), worldTf().getRotation().getW());
}
-void Log_decorator::update(tf2::Transform& tf) {
- input_filter();
- Abstract_robot_element_decorator::update(tf);
- output_filter();
+void LogDecorator::update(tf2::Transform& tf) {
+ inputFilter();
+ AbstractRobotElementDecorator::update(tf);
+ outputFilter();
}
-void Log_decorator::output_filter() {
+void LogDecorator::outputFilter() {
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());
+ ROS_INFO("=> Debug: pos('%f', '%f', '%f')", worldTf().getOrigin().getX(), worldTf().getOrigin().getY(), worldTf().getOrigin().getZ());
+ ROS_INFO("=> Debug: orientation('%f', '%f', '%f', '%f')", worldTf().getRotation().getX(), worldTf().getRotation().getY(), worldTf().getRotation().getZ(), worldTf().getRotation().getW());
}
diff --git a/src/robot_element/observers/field.cpp b/src/robot_element/observers/field.cpp
deleted file mode 100644
index 3937bbba0efdea924044a850a5df9b3d1cd533f5..0000000000000000000000000000000000000000
--- a/src/robot_element/observers/field.cpp
+++ /dev/null
@@ -1,4 +0,0 @@
-#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
index c54f839f9a630a2da5b5f93373976c0338dc9cb1..5fea351b4240a64373744f6ad67bbe32eaaae296 100644
--- a/src/robot_element/observers/moveit_panel.cpp
+++ b/src/robot_element/observers/moveit_panel.cpp
@@ -1,7 +1,7 @@
#include "robot_element/observers/moveit_panel.h"
-Moveit_panel::Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
+MoveitPanel::MoveitPanel(std::string name, tf2::Transform tf, tf2::Vector3 size)
: Panel(name, tf, size)
{
/*
@@ -29,7 +29,7 @@ Moveit_panel::Moveit_panel(std::string name, tf2::Transform tf, tf2::Vector3 siz
*/
};
-void Moveit_panel::update(tf2::Transform& tf){
+void MoveitPanel::update(tf2::Transform& tf){
Panel::update(tf);
marker_.id = name_;
diff --git a/src/robot_element/observers/panel.cpp b/src/robot_element/observers/panel.cpp
index 2f8b8f447a2ad54914d3cf2200bb6e227de558b5..b48176164fdee42800bed796e33d8ef442184d80 100644
--- a/src/robot_element/observers/panel.cpp
+++ b/src/robot_element/observers/panel.cpp
@@ -1,7 +1,7 @@
#include "robot_element/observers/panel.h"
Panel::Panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
-: Abstract_robot_element(tf, name, size)
+: AbstractRobotElement(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))); //+-
diff --git a/src/robot_element/observers/rviz_panel.cpp b/src/robot_element/observers/rviz_panel.cpp
index 60039067c8e3fd366f7f2f90606133a6cf0b208b..d7127dba94185da2ce0540c9d22d60d8cf025485 100644
--- a/src/robot_element/observers/rviz_panel.cpp
+++ b/src/robot_element/observers/rviz_panel.cpp
@@ -1,7 +1,7 @@
#include "robot_element/observers/rviz_panel.h"
-Rviz_panel::Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
+RvizPanel::RvizPanel(std::string name, tf2::Transform tf, tf2::Vector3 size)
: Panel(name, tf, size)
{
marker_.header.frame_id = "map";
@@ -26,7 +26,7 @@ Rviz_panel::Rviz_panel(std::string name, tf2::Transform tf, tf2::Vector3 size)
marker_.color.a = 0.0;
};
-void Rviz_panel::update(tf2::Transform& tf){
+void RvizPanel::update(tf2::Transform& tf){
Panel::update(tf);
marker_.header.frame_id = "map";