#include <unit_process.h>

Public Member Functions
choreo_msgs::ElementCandidatePoses	asElementCandidatePoses ()

Eigen::Vector3d	getEndPt ()

std::vector< Eigen::Vector3d >	getFeasibleOrients ()

Eigen::Vector3d	getStartPt ()

std::string	getType ()

	UnitProcess (int index, int wireframe_id, Eigen::Vector3d st_pt, Eigen::Vector3d end_pt, std::vector< Eigen::Vector3d > feasible_orients, std::string type_str, double element_diameter, double shrink_length, std::string world_frame)

virtual	~UnitProcess ()

Protected Member Functions
geometry_msgs::Pose	computeCylinderPose (const Eigen::Vector3d &st_pt, const Eigen::Vector3d &end_pt) const

moveit_msgs::CollisionObject	createCollisionObject (const int &id, const Eigen::Vector3d &st_pt, const Eigen::Vector3d &end_pt, const double &element_diameter, std::string &&shrink_type_suffix="") const

void	createShrinkedEndPoint (Eigen::Vector3d &st_pt, Eigen::Vector3d &end_st, double shrink_length)

Private Attributes
double	element_diameter_

Eigen::Vector3d	end_pt_

std::vector< Eigen::Vector3d >	feasible_orients_

int	id_

double	shrink_length_

Eigen::Vector3d	st_pt_

std::string	type_

int	wireframe_id_

std::string	world_frame_

Detailed Description

Definition at line 15 of file unit_process.h.

Constructor & Destructor Documentation

choreo_task_sequence_processing_utils::UnitProcess::UnitProcess	(	int	index,
		int	wireframe_id,
		Eigen::Vector3d	st_pt,
		Eigen::Vector3d	end_pt,
		std::vector< Eigen::Vector3d >	feasible_orients,
		std::string	type_str,
		double	element_diameter,
		double	shrink_length,
		std::string	world_frame
	)

inline

Definition at line 18 of file unit_process.h.

virtual choreo_task_sequence_processing_utils::UnitProcess::~UnitProcess ( )

inlinevirtual

Definition at line 37 of file unit_process.h.

Member Function Documentation

choreo_msgs::ElementCandidatePoses choreo_task_sequence_processing_utils::UnitProcess::asElementCandidatePoses ( )

Definition at line 92 of file unit_process.cpp.

geometry_msgs::Pose choreo_task_sequence_processing_utils::UnitProcess::computeCylinderPose	(	const Eigen::Vector3d &	st_pt,
		const Eigen::Vector3d &	end_pt
	)		const

protected

Definition at line 16 of file unit_process.cpp.

moveit_msgs::CollisionObject choreo_task_sequence_processing_utils::UnitProcess::createCollisionObject	(	const int &	id,
		const Eigen::Vector3d &	st_pt,
		const Eigen::Vector3d &	end_pt,
		const double &	element_diameter,
		std::string &&	shrink_type_suffix = `""`
	)		const

protected

Definition at line 54 of file unit_process.cpp.

void choreo_task_sequence_processing_utils::UnitProcess::createShrinkedEndPoint	(	Eigen::Vector3d &	st_pt,
		Eigen::Vector3d &	end_st,
		double	shrink_length
	)

protected

Definition at line 76 of file unit_process.cpp.

Eigen::Vector3d choreo_task_sequence_processing_utils::UnitProcess::getEndPt ( )

inline

Definition at line 40 of file unit_process.h.

std::vector<Eigen::Vector3d> choreo_task_sequence_processing_utils::UnitProcess::getFeasibleOrients ( )

inline

Definition at line 41 of file unit_process.h.

Eigen::Vector3d choreo_task_sequence_processing_utils::UnitProcess::getStartPt ( )

inline

Definition at line 39 of file unit_process.h.

std::string choreo_task_sequence_processing_utils::UnitProcess::getType ( )

inline

Definition at line 42 of file unit_process.h.

Member Data Documentation

double choreo_task_sequence_processing_utils::UnitProcess::element_diameter_

private

Definition at line 66 of file unit_process.h.

Eigen::Vector3d choreo_task_sequence_processing_utils::UnitProcess::end_pt_

private

Definition at line 61 of file unit_process.h.

std::vector<Eigen::Vector3d> choreo_task_sequence_processing_utils::UnitProcess::feasible_orients_

private

Definition at line 62 of file unit_process.h.

int choreo_task_sequence_processing_utils::UnitProcess::id_

private

Definition at line 58 of file unit_process.h.

double choreo_task_sequence_processing_utils::UnitProcess::shrink_length_

private

Definition at line 67 of file unit_process.h.

Eigen::Vector3d choreo_task_sequence_processing_utils::UnitProcess::st_pt_

private

Definition at line 60 of file unit_process.h.

std::string choreo_task_sequence_processing_utils::UnitProcess::type_

private

Definition at line 63 of file unit_process.h.

int choreo_task_sequence_processing_utils::UnitProcess::wireframe_id_

private

Definition at line 59 of file unit_process.h.

std::string choreo_task_sequence_processing_utils::UnitProcess::world_frame_

private

Definition at line 68 of file unit_process.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation