controllers_config.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_controllers/controllers_config.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
 
namespace moveit_setup
{
namespace controllers
{
bool ControllersConfig::addController(const std::string& name, const std::string& type,
                                      const std::vector<std::string>& joint_names)
{
  ControllerInfo controller;
  controller.name_ = name;
  controller.type_ = type;
  controller.joints_ = joint_names;
  return addController(controller);
}
 
bool ControllersConfig::addController(const ControllerInfo& new_controller)
{
  // Used for holding our search results
  ControllerInfo* searched_ros_controller = nullptr;
 
  // Find if there is an existing controller with the same name
  searched_ros_controller = findControllerByName(new_controller.name_);
 
  if (searched_ros_controller && searched_ros_controller->type_ == new_controller.type_)
    return false;
 
  controllers_.push_back(new_controller);
  return true;
}
 
ControllerInfo* ControllersConfig::findControllerByName(const std::string& controller_name)
{
  // Find the Controller we are editing based on the Controller name string
  ControllerInfo* searched_ros_controller = nullptr;  // used for holding our search results
 
  for (ControllerInfo& ros_control_config : controllers_)
  {
    if (ros_control_config.name_ == controller_name)  // string match
    {
      searched_ros_controller = &ros_control_config;  // convert to pointer from iterator
      break;                                          // we are done searching
    }
  }
 
  return searched_ros_controller;
}
 
bool ControllersConfig::deleteController(const std::string& controller_name)
{
  for (std::vector<ControllerInfo>::iterator controller_it = controllers_.begin(); controller_it != controllers_.end();
       ++controller_it)
  {
    if (controller_it->name_ == controller_name)  // string match
    {
      controllers_.erase(controller_it);
      // we are done searching
      return true;
    }
  }
  return false;
}
}  // namespace controllers
}  // namespace moveit_setup