moveit_controllers_config.hpp

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/* Author: David V. Lu!! */
 
#pragma once
 
#include <moveit_setup_controllers/controllers_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
static const std::string MOVEIT_CONTROLLERS_YAML = "config/moveit_controllers.yaml";
 
class MoveItControllersConfig : public ControllersConfig
{
public:
  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
 
  class GeneratedControllersConfig : public YamlGeneratedFile
  {
  public:
    GeneratedControllersConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                               MoveItControllersConfig& parent)
      : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    bool hasChanges() const override
    {
      return parent_.changed_ || parent_.hasChangedGroups();
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return MOVEIT_CONTROLLERS_YAML;
    }
 
    std::string getDescription() const override
    {
      return "Creates configurations for moveit_controllers.";
    }
 
    bool writeYaml(YAML::Emitter& emitter) override;
 
  protected:
    MoveItControllersConfig& parent_;
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override
  {
    files.push_back(std::make_shared<GeneratedControllersConfig>(package_path, last_gen_time, *this));
  }
 
protected:
  bool parseController(const std::string& name, const YAML::Node& controller);
 
  std::map<std::string, YAML::Node> trajectory_parameters_;
};
}  // namespace controllers
}  // namespace moveit_setup