A configuration that stores info about modifications to the URDF. More...

#include <modified_urdf_config.hpp>

Inheritance diagram for moveit_setup::ModifiedUrdfConfig:

Collaboration diagram for moveit_setup::ModifiedUrdfConfig:

Classes
class	GeneratedModifiedURDF

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

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

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

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

bool	hasChanges () const
	Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated.

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

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

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

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.

Protected Member Functions
std::unordered_map< std::string, IncludedXacroConfig::Ptr >	getIncludedXacroMap () const

std::vector< IncludedXacroConfig::Ptr >	getIncludedXacros () const

std::vector< std::string >	getIncludedXacroNames () const

Protected Attributes
std::shared_ptr< URDFConfig >	urdf_config_

std::set< std::string >	cached_xacro_names_

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 configuration that stores info about modifications to the URDF.

The modifications are primarily made in an included xacro file (which can be configured dynamically)

Definition at line 49 of file modified_urdf_config.hpp.

Member Function Documentation

◆ collectDependencies()

void moveit_setup::ModifiedUrdfConfig::collectDependencies ( std::set< std::string > & ) const

overridevirtual

Collect the package dependencies generated by this configuration.

Parameters

[out] packages Names of ROS packages

Reimplemented from moveit_setup::SetupConfig.

Definition at line 96 of file modified_urdf_config.cpp.

◆ collectFiles()

void moveit_setup::ModifiedUrdfConfig::collectFiles	(	const std::filesystem::path &	,
		const GeneratedTime &	,
		std::vector< GeneratedFilePtr > &
	)

overridevirtual

Collect the files generated by this configuration and add them to the vector.

Parameters

[in]	package_path	the path to the root of the config package
[in]	last_gen_time	The time (if any) when the config package was last generated
[out]	files	Where to put the new generated files

Reimplemented from moveit_setup::SetupConfig.

Definition at line 87 of file modified_urdf_config.cpp.

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◆ collectVariables()

void moveit_setup::ModifiedUrdfConfig::collectVariables ( std::vector< TemplateVariable > & )

overridevirtual

Collect key/value pairs for use in templates.

Parameters

[out] variables Where to put the new Variables

Reimplemented from moveit_setup::SetupConfig.

Definition at line 101 of file modified_urdf_config.cpp.

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◆ getIncludedXacroMap()

std::unordered_map< std::string, IncludedXacroConfig::Ptr > moveit_setup::ModifiedUrdfConfig::getIncludedXacroMap ( ) const

inlineprotected

Definition at line 102 of file modified_urdf_config.hpp.

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◆ getIncludedXacroNames()

std::vector< std::string > moveit_setup::ModifiedUrdfConfig::getIncludedXacroNames ( ) const

inlineprotected

Definition at line 118 of file modified_urdf_config.hpp.

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◆ getIncludedXacros()

std::vector< IncludedXacroConfig::Ptr > moveit_setup::ModifiedUrdfConfig::getIncludedXacros ( ) const

inlineprotected

Definition at line 107 of file modified_urdf_config.hpp.

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◆ hasChanges()

bool moveit_setup::ModifiedUrdfConfig::hasChanges ( ) const

Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated.

Definition at line 66 of file modified_urdf_config.cpp.

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◆ isConfigured()

bool moveit_setup::ModifiedUrdfConfig::isConfigured ( ) const

overridevirtual

Return true if this part of the configuration is completely set up.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 46 of file modified_urdf_config.cpp.

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◆ loadPrevious()

void moveit_setup::ModifiedUrdfConfig::loadPrevious	(	const std::filesystem::path &	,
		const YAML::Node &
	)

overridevirtual

Loads the configuration from an existing MoveIt configuration.

The data can be loaded directly from files in the configuration via the package path.

Certain other pieces of "meta" information may be stored in the .setup_assistant yaml file in the root of the configuration. If there is a node in that file that matches this config's name, it is passed in as an argument.

Parameters

package_path The path to the root folder of the configuration.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 51 of file modified_urdf_config.cpp.

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◆ onInit()

void moveit_setup::ModifiedUrdfConfig::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 41 of file modified_urdf_config.cpp.

◆ saveToYaml()

YAML::Node moveit_setup::ModifiedUrdfConfig::saveToYaml ( ) const

overridevirtual

Optionally save "meta" information for saving in the .setup_assistant yaml file.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 59 of file modified_urdf_config.cpp.

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Member Data Documentation

◆ cached_xacro_names_

std::set<std::string> moveit_setup::ModifiedUrdfConfig::cached_xacro_names_

protected

Definition at line 131 of file modified_urdf_config.hpp.

◆ urdf_config_

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

protected

Definition at line 130 of file modified_urdf_config.hpp.

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

moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/modified_urdf_config.hpp
moveit_setup_assistant/moveit_setup_controllers/src/modified_urdf_config.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ collectDependencies()

◆ collectFiles()

◆ collectVariables()

◆ getIncludedXacroMap()

◆ getIncludedXacroNames()

◆ getIncludedXacros()

◆ hasChanges()

◆ isConfigured()

◆ loadPrevious()

◆ onInit()

◆ saveToYaml()

Member Data Documentation

◆ cached_xacro_names_

◆ urdf_config_