controllers.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_controllers/controllers.hpp>
 
namespace moveit_setup
{
namespace controllers
{
// ******************************************************************************************
// Add a Follow Joint Trajectory action Controller for each Planning Group
// ******************************************************************************************
bool Controllers::addDefaultControllers()
{
  std::vector<std::string> group_names = getGroupNames();
  if (group_names.empty())
  {
    return false;
  }
 
  // Loop through groups
  bool success = true;
  for (const std::string& group_name : group_names)
  {
    // Get list of associated joints
    std::vector<std::string> joint_names = srdf_config_->getJointNames(group_name, true, false);  // exclude passive
    if (joint_names.empty())
    {
      continue;
    }
    bool ret = controllers_config_->addController(group_name + "_controller", getDefaultType(), joint_names);
    success &= ret;
  }
 
  return success;
}
 
std::vector<std::string> Controllers::getJointsFromGroups(const std::vector<std::string>& group_names) const
{
  std::vector<std::string> joint_names;
  for (const std::string& group_name : group_names)
  {
    for (const std::string& joint_name : srdf_config_->getJointNames(group_name, true, false))  // exclude passive
    {
      joint_names.push_back(joint_name);
    }
  }
  return joint_names;
}
 
}  // namespace controllers
}  // namespace moveit_setup