#include <task_sequence_processor.h>

Public Member Functions
bool	createCandidatePoses ()

bool	createEnvCollisionObjs ()

const std::vector< choreo_task_sequence_processing_utils::UnitProcess > &	getCandidatePoses () const

const std::vector< moveit_msgs::CollisionObject > &	getEnvCollisionObjs () const

bool	parseAssemblySequencePickNPlace (const choreo_msgs::ModelInputParameters &model_params, const choreo_msgs::TaskSequenceInputParameters &task_sequence_params, const std::string &world_frame_, choreo_msgs::AssemblySequencePickNPlace &as_pnp)

void	setParams (choreo_msgs::ModelInputParameters model_params, choreo_msgs::TaskSequenceInputParameters task_sequence_params, std::string world_frame)

	TaskSequenceProcessor ()

virtual	~TaskSequenceProcessor ()

Protected Member Functions
choreo_task_sequence_processing_utils::UnitProcess	createScaledUnitProcess (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)

void	setTransfVec (const Eigen::Vector3d &ref_pt, const Eigen::Vector3d &base_center_pt, const double &scale)

Private Types
typedef std::vector< choreo_msgs::ElementCandidatePoses >	ElementCandidatePosesArray

Private Attributes
double	element_diameter_

std::vector< moveit_msgs::CollisionObject >	env_collision_objs_

choreo_msgs::ModelInputParameters	model_input_params_

std::vector< choreo_task_sequence_processing_utils::UnitProcess >	path_array_

choreo_msgs::TaskSequenceInputParameters	path_input_params_

Eigen::Vector3d	ref_pt_

double	shrink_length_

Eigen::Vector3d	transf_vec_

double	unit_scale_

bool	verbose_

std::string	world_frame_

Detailed Description

Definition at line 21 of file task_sequence_processor.h.

Member Typedef Documentation

typedef std::vector<choreo_msgs::ElementCandidatePoses> choreo_task_sequence_processing::TaskSequenceProcessor::ElementCandidatePosesArray

private

Definition at line 23 of file task_sequence_processor.h.

Constructor & Destructor Documentation

choreo_task_sequence_processing::TaskSequenceProcessor::TaskSequenceProcessor ( )

Definition at line 46 of file task_sequence_processor.cpp.

virtual choreo_task_sequence_processing::TaskSequenceProcessor::~TaskSequenceProcessor ( )

inlinevirtual

Definition at line 27 of file task_sequence_processor.h.

Member Function Documentation

bool choreo_task_sequence_processing::TaskSequenceProcessor::createCandidatePoses ( )

Definition at line 295 of file task_sequence_processor.cpp.

bool choreo_task_sequence_processing::TaskSequenceProcessor::createEnvCollisionObjs ( )

Definition at line 401 of file task_sequence_processor.cpp.

choreo_task_sequence_processing_utils::UnitProcess choreo_task_sequence_processing::TaskSequenceProcessor::createScaledUnitProcess	(	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
	)

protected

Definition at line 443 of file task_sequence_processor.cpp.

const std::vector<choreo_task_sequence_processing_utils::UnitProcess>& choreo_task_sequence_processing::TaskSequenceProcessor::getCandidatePoses ( ) const

inline

Definition at line 46 of file task_sequence_processor.h.

const std::vector<moveit_msgs::CollisionObject>& choreo_task_sequence_processing::TaskSequenceProcessor::getEnvCollisionObjs ( ) const

inline

Definition at line 47 of file task_sequence_processor.h.

bool choreo_task_sequence_processing::TaskSequenceProcessor::parseAssemblySequencePickNPlace	(	const choreo_msgs::ModelInputParameters &	model_params,
		const choreo_msgs::TaskSequenceInputParameters &	task_sequence_params,
		const std::string &	world_frame_,
		choreo_msgs::AssemblySequencePickNPlace &	as_pnp
	)

Definition at line 105 of file task_sequence_processor.cpp.

void choreo_task_sequence_processing::TaskSequenceProcessor::setParams	(	choreo_msgs::ModelInputParameters	model_params,
		choreo_msgs::TaskSequenceInputParameters	task_sequence_params,
		std::string	world_frame
	)

Definition at line 54 of file task_sequence_processor.cpp.

void choreo_task_sequence_processing::TaskSequenceProcessor::setTransfVec	(	const Eigen::Vector3d &	ref_pt,
		const Eigen::Vector3d &	base_center_pt,
		const double &	scale
	)

inlineprotected

Definition at line 57 of file task_sequence_processor.h.

Member Data Documentation

double choreo_task_sequence_processing::TaskSequenceProcessor::element_diameter_

private

Definition at line 73 of file task_sequence_processor.h.

std::vector<moveit_msgs::CollisionObject> choreo_task_sequence_processing::TaskSequenceProcessor::env_collision_objs_

private

Definition at line 70 of file task_sequence_processor.h.

choreo_msgs::ModelInputParameters choreo_task_sequence_processing::TaskSequenceProcessor::model_input_params_

private

Definition at line 65 of file task_sequence_processor.h.

std::vector<choreo_task_sequence_processing_utils::UnitProcess> choreo_task_sequence_processing::TaskSequenceProcessor::path_array_

private

Definition at line 69 of file task_sequence_processor.h.

choreo_msgs::TaskSequenceInputParameters choreo_task_sequence_processing::TaskSequenceProcessor::path_input_params_

private

Definition at line 66 of file task_sequence_processor.h.

Eigen::Vector3d choreo_task_sequence_processing::TaskSequenceProcessor::ref_pt_

private

Definition at line 75 of file task_sequence_processor.h.

double choreo_task_sequence_processing::TaskSequenceProcessor::shrink_length_

private

Definition at line 74 of file task_sequence_processor.h.

Eigen::Vector3d choreo_task_sequence_processing::TaskSequenceProcessor::transf_vec_

private

Definition at line 76 of file task_sequence_processor.h.

double choreo_task_sequence_processing::TaskSequenceProcessor::unit_scale_

private

Definition at line 72 of file task_sequence_processor.h.

bool choreo_task_sequence_processing::TaskSequenceProcessor::verbose_

private

Definition at line 78 of file task_sequence_processor.h.

std::string choreo_task_sequence_processing::TaskSequenceProcessor::world_frame_

private

Definition at line 67 of file task_sequence_processor.h.

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

Public Member Functions

Protected Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation