moveit2
The MoveIt Motion Planning Framework for ROS 2.
tip_frame_getter.h
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34 
35 #pragma once
36 
37 #include <cassert>
38 #include <stdexcept>
39 #include <string>
40 #include <vector>
41 
43 
45 {
46 CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoSolverException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
47 CREATE_MOVEIT_ERROR_CODE_EXCEPTION(MoreThanOneTipFrameException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
48 
55 template <class JointModelGroup>
56 static bool hasSolver(const JointModelGroup* group)
57 {
58  if (group == nullptr)
59  {
60  throw std::invalid_argument("Group must not be null");
61  }
62  return group->getSolverInstance() != nullptr;
63 }
64 
74 template <class JointModelGroup>
75 static const std::string& getSolverTipFrame(const JointModelGroup* group)
76 {
77  if (!hasSolver(group))
78  {
79  throw NoSolverException("No solver for group " + group->getName());
80  }
81 
82  const std::vector<std::string>& tip_frames{ group->getSolverInstance()->getTipFrames() };
83  if (tip_frames.size() > 1)
84  {
85  throw MoreThanOneTipFrameException("Solver for group \"" + group->getName() + "\" has more than one tip frame");
86  }
87  return tip_frames.front();
88 }
89 
90 } // namespace pilz_industrial_motion_planner
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NegativeBlendRadiusException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)