moveit_setup::DataWarehouse Class Reference

Container for all of the SetupConfig object singletons. More...

#include <data_warehouse.hpp>

Inheritance diagram for moveit_setup::DataWarehouse:

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Public Member Functions
	DataWarehouse (const rclcpp::Node::SharedPtr &parent_node)
void	preloadWithURDFPath (const std::filesystem::path &urdf_path)
void	preloadWithFullConfig (const std::string &package_path_or_name)
SetupConfigPtr	get (const std::string &config_name, std::string config_class="")
	Get the singleton for a given config name and class. More...
template<typename T >
std::shared_ptr< T >	get (const std::string &config_name, const std::string &config_class="")
	Get the specific singleton for a given config name and class. More...
template<typename T >
std::unordered_map< std::string, std::shared_ptr< T > >	getAll ()
	Get all of the registered configs that match the given config_class. More...
void	registerType (const std::string &config_name, const std::string &config_class)
	Associates a class_name with the given name. Makes calls to get more succinct. More...
std::vector< SetupConfigPtr >	getConfigured ()
	Returns a list of the SetupConfig for which isConfigured is true. More...
const std::vector< std::string > &	getRegisteredNames () const
	Returns a list of config_names that have registered types associated with them. More...

Public Attributes
bool	debug { false }
	Is this application in debug mode? More...

Protected Attributes
rclcpp::Node::SharedPtr	parent_node_
pluginlib::ClassLoader< SetupConfig >	config_loader_
std::unordered_map< std::string, SetupConfigPtr >	configs_
std::unordered_map< std::string, std::string >	registered_types_
std::vector< std::string >	registered_names_

Detailed Description

Container for all of the SetupConfig object singletons.

Definition at line 52 of file data_warehouse.hpp.

Constructor & Destructor Documentation

DataWarehouse()

moveit_setup::DataWarehouse::DataWarehouse

(

const rclcpp::Node::SharedPtr &

parent_node

)

Definition at line 44 of file data_warehouse.cpp.

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Member Function Documentation

get() [1/2]

template<typename T >

std::shared_ptr<T> moveit_setup::DataWarehouse::get ( const std::string &  config_name, const std::string &  config_class = ""  )

inline

Get the specific singleton for a given config name and class.

Unlike the non-templated version of this method, this returns the SetupConfig pointer cast to the specific config type.

Parameters

config_name	The name of the SetupConfig
config_class	The string used to load the class via pluginlib. If empty, the registered type is used.

Exceptions

std::runtime_error

If the name is not registered to a type

Returns

Shared pointer to the specific SetupConfig object

Definition at line 82 of file data_warehouse.hpp.

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get() [2/2]

SetupConfigPtr moveit_setup::DataWarehouse::get	(	const std::string &	config_name,
		std::string	config_class = ""
	)

Get the singleton for a given config name and class.

Parameters

config_name	The name of the SetupConfig
config_class	The string used to load the class via pluginlib. If empty, the registered type is used.

Exceptions

std::runtime_error

If the name is not registered to a type

Returns

Shared pointer to the generic SetupConfig object

Definition at line 62 of file data_warehouse.cpp.

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getAll()

template<typename T >

std::unordered_map<std::string, std::shared_ptr<T> > moveit_setup::DataWarehouse::getAll ( )

inline

Get all of the registered configs that match the given config_class.

Parameters

config_class

The string representing the class name

Returns

Map of shared pointers from config names to singleton config

Definition at line 94 of file data_warehouse.hpp.

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getConfigured()

std::vector< SetupConfigPtr > moveit_setup::DataWarehouse::getConfigured

(

)

Returns a list of the SetupConfig for which isConfigured is true.

Definition at line 90 of file data_warehouse.cpp.

getRegisteredNames()

const std::vector< std::string > & moveit_setup::DataWarehouse::getRegisteredNames

(

)

const

Returns a list of config_names that have registered types associated with them.

Definition at line 109 of file data_warehouse.cpp.

preloadWithFullConfig()

void moveit_setup::DataWarehouse::preloadWithFullConfig

(

const std::string &

package_path_or_name

)

Definition at line 57 of file data_warehouse.cpp.

preloadWithURDFPath()

void moveit_setup::DataWarehouse::preloadWithURDFPath

(

const std::filesystem::path &

urdf_path

)

Definition at line 52 of file data_warehouse.cpp.

registerType()

void moveit_setup::DataWarehouse::registerType	(	const std::string &	config_name,
		const std::string &	config_class
	)

Associates a class_name with the given name. Makes calls to get more succinct.

Definition at line 84 of file data_warehouse.cpp.

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Member Data Documentation

config_loader_

pluginlib::ClassLoader<SetupConfig> moveit_setup::DataWarehouse::config_loader_

protected

Definition at line 131 of file data_warehouse.hpp.

configs_

std::unordered_map<std::string, SetupConfigPtr> moveit_setup::DataWarehouse::configs_

protected

Definition at line 132 of file data_warehouse.hpp.

debug

bool moveit_setup::DataWarehouse::debug { false }

Is this application in debug mode?

Definition at line 127 of file data_warehouse.hpp.

parent_node_

rclcpp::Node::SharedPtr moveit_setup::DataWarehouse::parent_node_

protected

Definition at line 130 of file data_warehouse.hpp.

registered_names_

std::vector<std::string> moveit_setup::DataWarehouse::registered_names_

protected

Definition at line 134 of file data_warehouse.hpp.

registered_types_

std::unordered_map<std::string, std::string> moveit_setup::DataWarehouse::registered_types_

protected

Definition at line 133 of file data_warehouse.hpp.

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The documentation for this class was generated from the following files:

• moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data_warehouse.hpp
• moveit_setup_assistant/moveit_setup_framework/src/data_warehouse.cpp