urdf_modifications.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_controllers/urdf_modifications.hpp>
 
namespace moveit_setup
{
namespace controllers
{
void UrdfModifications::onInit()
{
  config_data_->registerType("control_xacro", "moveit_setup::controllers::ControlXacroConfig");
  control_xacro_config_ = config_data_->get<ControlXacroConfig>("control_xacro");
  srdf_config_ = config_data_->get<SRDFConfig>("srdf");
}
 
void UrdfModifications::setInterfaces(const std::vector<std::string>& command_interfaces,
                                      const std::vector<std::string>& state_interfaces)
{
  ControlInterfaces ci;
  ci.command_interfaces = command_interfaces;
  ci.state_interfaces = state_interfaces;
  control_xacro_config_->setControlInterfaces(ci);
}
 
bool UrdfModifications::needsModification() const
{
  return !control_xacro_config_->hasAllControlTagsInOriginal();
}
 
}  // namespace controllers
}  // namespace moveit_setup