planning_groups.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_setup_srdf_plugins/group_meta_config.hpp>
#include <moveit/robot_model/robot_model.h>
#include <vector>
 
namespace moveit_setup
{
namespace srdf_setup
{
class LinkNameTree
{
public:
  std::string data;
  std::vector<LinkNameTree> children;
};
 
inline LinkNameTree buildLinkNameTree(const moveit::core::LinkModel* link)
{
  LinkNameTree node;
  node.data = link->getName();
 
  for (const auto& child_joint : link->getChildJointModels())
  {
    node.children.push_back(buildLinkNameTree(child_joint->getChildLinkModel()));
  }
  return node;
}
 
class PlanningGroups : public SuperSRDFStep<srdf::Model::Group>
{
public:
  std::string getName() const override
  {
    return "Planning Groups";
  }
 
  std::vector<srdf::Model::Group>& getContainer() override
  {
    return srdf_config_->getGroups();
  }
 
  InformationFields getInfoField() const override
  {
    return GROUPS;
  }
 
  void onInit() override;
 
  std::vector<srdf::Model::Group>& getGroups()
  {
    return srdf_config_->getGroups();
  }
 
  void renameGroup(const std::string& old_group_name, const std::string& new_group_name);
  void deleteGroup(const std::string& group_name);
 
  void setJoints(const std::string& group_name, const std::vector<std::string>& joint_names);
 
  void setLinks(const std::string& group_name, const std::vector<std::string>& link_names);
 
  void setChain(const std::string& group_name, const std::string& base, const std::string& tip);
 
  void setSubgroups(const std::string& selected_group_name, const std::vector<std::string>& subgroups);
 
  const GroupMetaData& getMetaData(const std::string& group_name) const
  {
    return group_meta_config_->getMetaData(group_name);
  }
 
  void setMetaData(const std::string& group_name, const GroupMetaData& meta_data)
  {
    group_meta_config_->setMetaData(group_name, meta_data);
  }
 
  std::vector<std::string> getGroupNames() const
  {
    return srdf_config_->getGroupNames();
  }
 
  const std::vector<std::string>& getJointNames() const
  {
    return srdf_config_->getRobotModel()->getJointModelNames();
  }
 
  const std::vector<std::string>& getLinkNames() const
  {
    return srdf_config_->getRobotModel()->getLinkModelNames();
  }
 
  std::string getChildOfJoint(const std::string& joint_name) const;
  std::string getJointType(const std::string& joint_name) const;
  LinkNameTree getLinkNameTree() const;
  std::vector<std::string> getPosesByGroup(const std::string& group_name) const;
  std::vector<std::string> getEndEffectorsByGroup(const std::string& group_name) const;
  std::vector<std::string> getKinematicPlanners() const;
  std::vector<std::string> getOMPLPlanners() const;
 
protected:
  std::shared_ptr<GroupMetaConfig> group_meta_config_;
};
}  // namespace srdf_setup
}  // namespace moveit_setup