moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_setup::controllers::MoveItControllersConfig Class Reference

#include <moveit_controllers_config.hpp>

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Classes

class  GeneratedControllersConfig
 

Public Member Functions

void loadPrevious (const std::filesystem::path &package_path, const YAML::Node &node) override
 Loads the configuration from an existing MoveIt configuration. 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...
 
- Public Member Functions inherited from moveit_setup::controllers::ControllersConfig
bool isConfigured () const override
 Return true if this part of the configuration is completely set up. More...
 
std::vector< ControllerInfo > & getControllers ()
 Gets controllers_ vector. More...
 
bool addController (const std::string &name, const std::string &type, const std::vector< std::string > &joint_names)
 Adds a controller to controllers_ vector. More...
 
bool addController (const ControllerInfo &new_controller)
 Adds a controller to controllers_ vector. More...
 
ControllerInfofindControllerByName (const std::string &controller_name)
 
bool deleteController (const std::string &controller_name)
 
bool hasChangedGroups () const
 
- 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...
 
virtual void onInit ()
 Overridable initialization method. More...
 
const std::string & getName ()
 The name for this part of the configuration. More...
 
virtual YAML::Node saveToYaml () const
 Optionally save "meta" information for saving in the .setup_assistant yaml file. More...
 
virtual void collectDependencies (std::set< std::string > &) const
 Collect the package dependencies generated by this configuration. More...
 
virtual void collectVariables (std::vector< TemplateVariable > &)
 Collect key/value pairs for use in templates. More...
 

Protected Member Functions

bool parseController (const std::string &name, const YAML::Node &controller)
 

Protected Attributes

std::map< std::string, YAML::Node > trajectory_parameters_
 
- Protected Attributes inherited from moveit_setup::controllers::ControllersConfig
std::vector< ControllerInfocontrollers_
 Controllers config data. More...
 
bool changed_
 
- 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

Definition at line 47 of file moveit_controllers_config.hpp.

Member Function Documentation

◆ collectFiles()

void moveit_setup::controllers::MoveItControllersConfig::collectFiles ( const std::filesystem::path &  ,
const GeneratedTime ,
std::vector< GeneratedFilePtr > &   
)
inlineoverridevirtual

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 82 of file moveit_controllers_config.hpp.

◆ loadPrevious()

void moveit_setup::controllers::MoveItControllersConfig::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 44 of file moveit_controllers_config.cpp.

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◆ parseController()

bool moveit_setup::controllers::MoveItControllersConfig::parseController ( const std::string &  name,
const YAML::Node &  controller 
)
protected

Helper function for parsing ros_controllers.yaml file

Parameters
YAML::Node- individual controller to be parsed
Returns
true if the file was read correctly

Definition at line 104 of file moveit_controllers_config.cpp.

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Member Data Documentation

◆ trajectory_parameters_

std::map<std::string, YAML::Node> moveit_setup::controllers::MoveItControllersConfig::trajectory_parameters_
protected

Definition at line 96 of file moveit_controllers_config.hpp.


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