#include <urdf_modifications.hpp>
Inheritance diagram for moveit_setup::controllers::UrdfModifications:
Collaboration diagram for moveit_setup::controllers::UrdfModifications:
Public Member Functions | |
| std::string | getName () const override |
| Returns the name of the setup step. More... | |
| void | onInit () override |
| Overridable initialization method. More... | |
| bool | isReady () const override |
| Return true if the data necessary to proceed with this step has been configured. More... | |
| void | refresh () |
| bool | needsModification () const |
| Return true if there aren't ros2_control tags for all the joints. More... | |
| void | setInterfaces (const std::vector< std::string > &command_interfaces, const std::vector< std::string > &state_interfaces) |
| Add ros2_control tags for all unconfigured joints with the specified interfaces. More... | |
| std::string | getJointsXML () const |
| const ControlInterfaces & | getDefaultControlInterfaces () const |
| const ControlInterfaces & | getAvailableControlInterfaces () const |
 Public Member Functions inherited from moveit_setup::SetupStep | |
| SetupStep ()=default | |
| SetupStep (const SetupStep &)=default | |
| SetupStep (SetupStep &&)=default | |
| SetupStep & | operator= (const SetupStep &)=default |
| SetupStep & | operator= (SetupStep &&)=default |
| virtual | ~SetupStep ()=default |
| void | initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data) |
| Called after construction to initialize the step. More... | |
| const rclcpp::Logger & | getLogger () const |
| Makes a namespaced logger for this step available to the widget. More... | |
Protected Attributes | |
| std::shared_ptr< SRDFConfig > | srdf_config_ |
| std::shared_ptr< ControlXacroConfig > | control_xacro_config_ |
| Protected Attributes inherited from moveit_setup::SetupStep | |
| DataWarehousePtr | config_data_ |
| rclcpp::Node::SharedPtr | parent_node_ |
| std::shared_ptr< rclcpp::Logger > | logger_ |
Detailed Description
Definition at line 45 of file urdf_modifications.hpp.
Member Function Documentation
◆ getAvailableControlInterfaces()
|
inline |
◆ getDefaultControlInterfaces()
|
inline |
◆ getJointsXML()
|
inline |
◆ getName()
|
inlineoverridevirtual |
Returns the name of the setup step.
Implements moveit_setup::SetupStep.
Definition at line 48 of file urdf_modifications.hpp.
◆ isReady()
|
inlineoverridevirtual |
Return true if the data necessary to proceed with this step has been configured.
Reimplemented from moveit_setup::SetupStep.
Definition at line 55 of file urdf_modifications.hpp.
◆ needsModification()
| bool moveit_setup::controllers::UrdfModifications::needsModification | ( | ) | const |
Return true if there aren't ros2_control tags for all the joints.
Definition at line 59 of file urdf_modifications.cpp.
Here is the caller graph for this function:
◆ onInit()
|
overridevirtual |
Overridable initialization method.
Reimplemented from moveit_setup::SetupStep.
Definition at line 43 of file urdf_modifications.cpp.
◆ refresh()
|
inline |
◆ setInterfaces()
| void moveit_setup::controllers::UrdfModifications::setInterfaces | ( | const std::vector< std::string > & | command_interfaces, |
| const std::vector< std::string > & | state_interfaces | ||
| ) |
Add ros2_control tags for all unconfigured joints with the specified interfaces.
Definition at line 50 of file urdf_modifications.cpp.
Member Data Documentation
◆ control_xacro_config_
|
protected |
Definition at line 93 of file urdf_modifications.hpp.
◆ srdf_config_
|
protected |
Definition at line 92 of file urdf_modifications.hpp.
The documentation for this class was generated from the following files:
- moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/urdf_modifications.hpp
- moveit_setup_assistant/moveit_setup_controllers/src/urdf_modifications.cpp
