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moveit_setup::ModifiedUrdfConfig Class Reference

A configuration that stores info about modifications to the URDF. More...

#include <modified_urdf_config.hpp>

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Classes

class  GeneratedModifiedURDF
 

Public Member Functions

void onInit () override
 Overridable initialization method. More...
 
bool isConfigured () const override
 Return true if this part of the configuration is completely set up. More...
 
void loadPrevious (const std::filesystem::path &, const YAML::Node &node) override
 Loads the configuration from an existing MoveIt configuration. More...
 
YAML::Node saveToYaml () const override
 Optionally save "meta" information for saving in the .setup_assistant yaml file. More...
 
bool hasChanges () const
 Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated. More...
 
void collectFiles (const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
 Collect the files generated by this configuration and add them to the vector. More...
 
void collectDependencies (std::set< std::string > &packages) const override
 Collect the package dependencies generated by this configuration. More...
 
void collectVariables (std::vector< TemplateVariable > &variables) override
 Collect key/value pairs for use in templates. More...
 
- Public Member Functions inherited from moveit_setup::SetupConfig
 SetupConfig ()=default
 
 SetupConfig (const SetupConfig &)=default
 
 SetupConfig (SetupConfig &&)=default
 
SetupConfigoperator= (const SetupConfig &)=default
 
SetupConfigoperator= (SetupConfig &&)=default
 
virtual ~SetupConfig ()=default
 
void initialize (const std::shared_ptr< DataWarehouse > &config_data, const rclcpp::Node::SharedPtr &parent_node, const std::string &name)
 Called after construction to initialize the step. More...
 
const std::string & getName ()
 The name for this part of the configuration. More...
 

Protected Member Functions

std::unordered_map< std::string, IncludedXacroConfig::PtrgetIncludedXacroMap () const
 
std::vector< IncludedXacroConfig::PtrgetIncludedXacros () const
 
std::vector< std::string > getIncludedXacroNames () const
 

Protected Attributes

std::shared_ptr< URDFConfigurdf_config_
 
std::set< std::string > cached_xacro_names_
 
- Protected Attributes inherited from moveit_setup::SetupConfig
std::shared_ptr< DataWarehouseconfig_data_
 
rclcpp::Node::SharedPtr parent_node_
 
std::string name_
 
std::shared_ptr< rclcpp::Logger > logger_
 

Detailed Description

A configuration that stores info about modifications to the URDF.

The modifications are primarily made in an included xacro file (which can be configured dynamically)

Definition at line 49 of file modified_urdf_config.hpp.

Member Function Documentation

◆ collectDependencies()

void moveit_setup::ModifiedUrdfConfig::collectDependencies ( std::set< std::string > &  ) const
overridevirtual

Collect the package dependencies generated by this configuration.

Parameters
[out]packagesNames of ROS packages

Reimplemented from moveit_setup::SetupConfig.

Definition at line 96 of file modified_urdf_config.cpp.

◆ collectFiles()

void moveit_setup::ModifiedUrdfConfig::collectFiles ( const std::filesystem::path &  ,
const GeneratedTime ,
std::vector< GeneratedFilePtr > &   
)
overridevirtual

Collect the files generated by this configuration and add them to the vector.

Parameters
[in]package_paththe path to the root of the config package
[in]last_gen_timeThe time (if any) when the config package was last generated @parma[out] files Where to put the new generated files

Reimplemented from moveit_setup::SetupConfig.

Definition at line 87 of file modified_urdf_config.cpp.

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◆ collectVariables()

void moveit_setup::ModifiedUrdfConfig::collectVariables ( std::vector< TemplateVariable > &  )
overridevirtual

Collect key/value pairs for use in templates.

Parameters
[out]variablesWhere to put the new Variables

Reimplemented from moveit_setup::SetupConfig.

Definition at line 101 of file modified_urdf_config.cpp.

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◆ getIncludedXacroMap()

std::unordered_map<std::string, IncludedXacroConfig::Ptr> moveit_setup::ModifiedUrdfConfig::getIncludedXacroMap ( ) const
inlineprotected

Definition at line 102 of file modified_urdf_config.hpp.

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◆ getIncludedXacroNames()

std::vector<std::string> moveit_setup::ModifiedUrdfConfig::getIncludedXacroNames ( ) const
inlineprotected

Definition at line 118 of file modified_urdf_config.hpp.

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◆ getIncludedXacros()

std::vector<IncludedXacroConfig::Ptr> moveit_setup::ModifiedUrdfConfig::getIncludedXacros ( ) const
inlineprotected

Definition at line 107 of file modified_urdf_config.hpp.

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◆ hasChanges()

bool moveit_setup::ModifiedUrdfConfig::hasChanges ( ) const

Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated.

Definition at line 66 of file modified_urdf_config.cpp.

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◆ isConfigured()

bool moveit_setup::ModifiedUrdfConfig::isConfigured ( ) const
overridevirtual

Return true if this part of the configuration is completely set up.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 46 of file modified_urdf_config.cpp.

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◆ loadPrevious()

void moveit_setup::ModifiedUrdfConfig::loadPrevious ( const std::filesystem::path &  ,
const YAML::Node &   
)
overridevirtual

Loads the configuration from an existing MoveIt configuration.

The data can be loaded directly from files in the configuration via the package path.

Certain other pieces of "meta" information may be stored in the .setup_assistant yaml file in the root of the configuration. If there is a node in that file that matches this config's name, it is passed in as an argument.

Parameters
package_pathThe path to the root folder of the configuration.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 51 of file modified_urdf_config.cpp.

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◆ onInit()

void moveit_setup::ModifiedUrdfConfig::onInit ( )
overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 41 of file modified_urdf_config.cpp.

◆ saveToYaml()

YAML::Node moveit_setup::ModifiedUrdfConfig::saveToYaml ( ) const
overridevirtual

Optionally save "meta" information for saving in the .setup_assistant yaml file.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 59 of file modified_urdf_config.cpp.

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Member Data Documentation

◆ cached_xacro_names_

std::set<std::string> moveit_setup::ModifiedUrdfConfig::cached_xacro_names_
protected

Definition at line 131 of file modified_urdf_config.hpp.

◆ urdf_config_

std::shared_ptr<URDFConfig> moveit_setup::ModifiedUrdfConfig::urdf_config_
protected

Definition at line 130 of file modified_urdf_config.hpp.


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