start_screen.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_core_plugins/start_screen.hpp>
 
namespace moveit_setup
{
namespace core
{
void StartScreen::onInit()
{
  package_settings_ = config_data_->get<PackageSettingsConfig>("package_settings");
  srdf_config_ = config_data_->get<SRDFConfig>("srdf");
  urdf_config_ = config_data_->get<URDFConfig>("urdf");
}
 
void StartScreen::loadURDFFile(const std::filesystem::path& urdf_file_path, const std::string& xacro_args)
{
  urdf_config_->loadFromPath(urdf_file_path, xacro_args);
  srdf_config_->updateRobotModel();
}
 
std::filesystem::path StartScreen::getURDFPath()
{
  return urdf_config_->getURDFPath();
}
 
std::string StartScreen::getXacroArgs()
{
  return urdf_config_->getXacroArgs();
}
 
std::filesystem::path StartScreen::getPackagePath()
{
  return package_settings_->getPackagePath();
}
 
void StartScreen::loadExisting(const std::filesystem::path& package_path)
{
  package_settings_->loadExisting(package_path.string());
}
 
bool StartScreen::isXacroFile()
{
  return urdf_config_->isXacroFile();
}
}  // namespace core
}  // namespace moveit_setup