A virtual class that represents a xacro header that should be included in the modified urdf configuration. More...

#include <included_xacro_config.hpp>

Inheritance diagram for moveit_setup::IncludedXacroConfig:

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Collaboration diagram for moveit_setup::IncludedXacroConfig:

Public Types
using	Ptr = std::shared_ptr< IncludedXacroConfig >

Public Member Functions
void	onInit () override
	Overridable initialization method.

virtual std::string	getFilepath () const =0
	The file path to use in the <xacro:include> tag.

virtual bool	hasChanges () const =0
	Returns if the xacro and its properties have changed, resulting in the whole urdf needing regeneration.

virtual std::vector< std::pair< std::string, std::string > >	getArguments () const
	Returns a list of name/value pairs for arguments that the modified urdf should have.

virtual std::vector< std::string >	getCommands () const
	Return a list of additional commands that need to be inserted after the xacro is included.

Public Member Functions inherited from moveit_setup::SetupConfig
	SetupConfig ()=default

	SetupConfig (const SetupConfig &)=default

	SetupConfig (SetupConfig &&)=default

SetupConfig &	operator= (const SetupConfig &)=default

SetupConfig &	operator= (SetupConfig &&)=default

virtual	~SetupConfig ()=default

void	initialize (const std::shared_ptr< DataWarehouse > &config_data, const rclcpp::Node::SharedPtr &parent_node, const std::string &name)
	Called after construction to initialize the step.

const std::string &	getName ()
	The name for this part of the configuration.

virtual bool	isConfigured () const
	Return true if this part of the configuration is completely set up.

virtual void	loadPrevious (const std::filesystem::path &, const YAML::Node &)
	Loads the configuration from an existing MoveIt configuration.

virtual YAML::Node	saveToYaml () const
	Optionally save "meta" information for saving in the .setup_assistant yaml file.

virtual void	collectFiles (const std::filesystem::path &, const GeneratedTime &, std::vector< GeneratedFilePtr > &)
	Collect the files generated by this configuration and add them to the vector.

virtual void	collectDependencies (std::set< std::string > &) const
	Collect the package dependencies generated by this configuration.

virtual void	collectVariables (std::vector< TemplateVariable > &)
	Collect key/value pairs for use in templates.

Protected Attributes
std::shared_ptr< URDFConfig >	urdf_config_

Protected Attributes inherited from moveit_setup::SetupConfig
std::shared_ptr< DataWarehouse >	config_data_

rclcpp::Node::SharedPtr	parent_node_

std::string	name_

std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

A virtual class that represents a xacro header that should be included in the modified urdf configuration.

Definition at line 47 of file included_xacro_config.hpp.

Member Typedef Documentation

◆ Ptr

using moveit_setup::IncludedXacroConfig::Ptr = std::shared_ptr<IncludedXacroConfig>

Definition at line 93 of file included_xacro_config.hpp.

Member Function Documentation

◆ getArguments()

virtual std::vector< std::pair< std::string, std::string > > moveit_setup::IncludedXacroConfig::getArguments ( ) const

inlinevirtual

Returns a list of name/value pairs for arguments that the modified urdf should have.

Result will be <xacro:arg name="pair.first" default="pair.second" />

Reimplemented in moveit_setup::controllers::ControlXacroConfig.

Definition at line 78 of file included_xacro_config.hpp.

◆ getCommands()

virtual std::vector< std::string > moveit_setup::IncludedXacroConfig::getCommands ( ) const

inlinevirtual

Return a list of additional commands that need to be inserted after the xacro is included.

e.g. If the included xacro includes a macro definition, the command to run the macro could be here.

Reimplemented in moveit_setup::controllers::ControlXacroConfig.

Definition at line 88 of file included_xacro_config.hpp.

◆ getFilepath()

virtual std::string moveit_setup::IncludedXacroConfig::getFilepath ( ) const

pure virtual

The file path to use in the <xacro:include> tag.

If the file is in MoveIt config's config folder, just the file name is fine. Alternatively you can return a package string a la $(find SOME_PACKAGE_NAME)/relative/path/to/header.xacro

Implemented in moveit_setup::controllers::ControlXacroConfig.

◆ hasChanges()

virtual bool moveit_setup::IncludedXacroConfig::hasChanges ( ) const

pure virtual

Returns if the xacro and its properties have changed, resulting in the whole urdf needing regeneration.

Implemented in moveit_setup::controllers::ControlXacroConfig.

◆ onInit()

void moveit_setup::IncludedXacroConfig::onInit ( )

inlineoverridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 50 of file included_xacro_config.hpp.

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Member Data Documentation

◆ urdf_config_

std::shared_ptr<URDFConfig> moveit_setup::IncludedXacroConfig::urdf_config_

protected

Definition at line 96 of file included_xacro_config.hpp.

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

moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/included_xacro_config.hpp

Public Types

Public Member Functions

Protected Attributes