#include <srdf_config.hpp>

Inheritance diagram for moveit_setup::SRDFConfig:

Collaboration diagram for moveit_setup::SRDFConfig:

Classes
class	GeneratedCartesianLimits

class	GeneratedJointLimits

class	GeneratedSRDF

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 &package_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.

void	loadSRDFFile (const std::filesystem::path &package_path, const std::filesystem::path &relative_path)
	Load SRDF File.

void	loadSRDFFile (const std::filesystem::path &srdf_file_path, const std::vector< std::string > &xacro_args=std::vector< std::string >())

moveit::core::RobotModelPtr	getRobotModel () const

planning_scene::PlanningScenePtr	getPlanningScene ()
	Provide a shared planning scene.

void	updateRobotModel (long changed_information=0L)

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

void	clearCollisionData ()

std::vector< srdf::Model::CollisionPair > &	getDisabledCollisions ()

std::vector< srdf::Model::EndEffector > &	getEndEffectors ()

std::vector< srdf::Model::Group > &	getGroups ()

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

std::vector< srdf::Model::GroupState > &	getGroupStates ()

std::vector< srdf::Model::VirtualJoint > &	getVirtualJoints ()

std::vector< srdf::Model::PassiveJoint > &	getPassiveJoints ()

std::string	getChildOfJoint (const std::string &joint_name) const
	Return the name of the child link of a joint.

void	removePoseByName (const std::string &pose_name, const std::string &group_name)

std::vector< std::string >	getJointNames (const std::string &group_name, bool include_multi_dof=true, bool include_passive=true)

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

bool	write (const std::filesystem::path &path)

std::filesystem::path	getPath () const

unsigned long	getChangeMask () const

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

Protected Member Functions
void	getRelativePath ()

void	loadURDFModel ()

Protected Attributes
std::filesystem::path	srdf_path_
	Full file-system path to srdf.

std::filesystem::path	srdf_pkg_relative_path_
	Path relative to loaded configuration package.

srdf::SRDFWriter	srdf_
	SRDF Data and Writer.

std::shared_ptr< urdf::Model >	urdf_model_

moveit::core::RobotModelPtr	robot_model_

planning_scene::PlanningScenePtr	planning_scene_
	Shared planning scene.

unsigned long	changes_

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

Definition at line 64 of file srdf_config.hpp.

Member Function Documentation

◆ clearCollisionData()

void moveit_setup::SRDFConfig::clearCollisionData ( )

inline

Definition at line 96 of file srdf_config.hpp.

◆ collectFiles()

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

inlineoverridevirtual

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 254 of file srdf_config.hpp.

◆ collectVariables()

void moveit_setup::SRDFConfig::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 215 of file srdf_config.cpp.

◆ getChangeMask()

unsigned long moveit_setup::SRDFConfig::getChangeMask ( ) const

inline

Definition at line 274 of file srdf_config.hpp.

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◆ getChildOfJoint()

std::string moveit_setup::SRDFConfig::getChildOfJoint ( const std::string & joint_name ) const

Return the name of the child link of a joint.

Returns: empty string if joint is not found

Definition at line 168 of file srdf_config.cpp.

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◆ getDisabledCollisions()

std::vector< srdf::Model::CollisionPair > & moveit_setup::SRDFConfig::getDisabledCollisions ( )

inline

Definition at line 103 of file srdf_config.hpp.

◆ getEndEffectors()

std::vector< srdf::Model::EndEffector > & moveit_setup::SRDFConfig::getEndEffectors ( )

inline

Definition at line 108 of file srdf_config.hpp.

◆ getGroupNames()

std::vector< std::string > moveit_setup::SRDFConfig::getGroupNames ( ) const

inline

Definition at line 118 of file srdf_config.hpp.

◆ getGroups()

std::vector< srdf::Model::Group > & moveit_setup::SRDFConfig::getGroups ( )

inline

Definition at line 113 of file srdf_config.hpp.

◆ getGroupStates()

std::vector< srdf::Model::GroupState > & moveit_setup::SRDFConfig::getGroupStates ( )

inline

Definition at line 129 of file srdf_config.hpp.

◆ getJointNames()

std::vector< std::string > moveit_setup::SRDFConfig::getJointNames	(	const std::string &	group_name,
		bool	include_multi_dof = `true`,
		bool	include_passive = `true`
	)

Definition at line 193 of file srdf_config.cpp.

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◆ getLinkNames()

std::vector< std::string > moveit_setup::SRDFConfig::getLinkNames ( ) const

Definition at line 158 of file srdf_config.cpp.

◆ getPassiveJoints()

std::vector< srdf::Model::PassiveJoint > & moveit_setup::SRDFConfig::getPassiveJoints ( )

inline

Definition at line 139 of file srdf_config.hpp.

◆ getPath()

std::filesystem::path moveit_setup::SRDFConfig::getPath ( ) const

inline

Definition at line 269 of file srdf_config.hpp.

◆ getPlanningScene()

planning_scene::PlanningScenePtr moveit_setup::SRDFConfig::getPlanningScene ( )

Provide a shared planning scene.

Definition at line 145 of file srdf_config.cpp.

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◆ getRelativePath()

void moveit_setup::SRDFConfig::getRelativePath ( )

protected

Definition at line 110 of file srdf_config.cpp.

◆ getRobotModel()

moveit::core::RobotModelPtr moveit_setup::SRDFConfig::getRobotModel ( ) const

inline

Definition at line 82 of file srdf_config.hpp.

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◆ getVirtualJoints()

std::vector< srdf::Model::VirtualJoint > & moveit_setup::SRDFConfig::getVirtualJoints ( )

inline

Definition at line 134 of file srdf_config.hpp.

◆ isConfigured()

bool moveit_setup::SRDFConfig::isConfigured ( ) const

inlineoverridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 69 of file srdf_config.hpp.

◆ loadPrevious()

void moveit_setup::SRDFConfig::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 47 of file srdf_config.cpp.

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◆ loadSRDFFile() [1/2]

void moveit_setup::SRDFConfig::loadSRDFFile	(	const std::filesystem::path &	package_path,
		const std::filesystem::path &	relative_path
	)

Load SRDF File.

Definition at line 76 of file srdf_config.cpp.

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◆ loadSRDFFile() [2/2]

void moveit_setup::SRDFConfig::loadSRDFFile	(	const std::filesystem::path &	srdf_file_path,
		const std::vector< std::string > &	xacro_args = `std::vector<std::string>()`
	)

Definition at line 84 of file srdf_config.cpp.

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◆ loadURDFModel()

void moveit_setup::SRDFConfig::loadURDFModel ( )

protected

Definition at line 63 of file srdf_config.cpp.

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◆ onInit()

void moveit_setup::SRDFConfig::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 41 of file srdf_config.cpp.

◆ removePoseByName()

void moveit_setup::SRDFConfig::removePoseByName	(	const std::string &	pose_name,
		const std::string &	group_name
	)

Definition at line 179 of file srdf_config.cpp.

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◆ saveToYaml()

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

overridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 56 of file srdf_config.cpp.

◆ updateRobotModel()

void moveit_setup::SRDFConfig::updateRobotModel ( long changed_information = 0L )

Update the robot model with the new SRDF, AND mark the changes that have been made to the model changed_information should be composed of InformationFields

Definition at line 119 of file srdf_config.cpp.

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◆ write()

bool moveit_setup::SRDFConfig::write ( const std::filesystem::path & path )

inline

Definition at line 264 of file srdf_config.hpp.

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Member Data Documentation

◆ changes_

unsigned long moveit_setup::SRDFConfig::changes_

protected

Definition at line 303 of file srdf_config.hpp.

◆ planning_scene_

planning_scene::PlanningScenePtr moveit_setup::SRDFConfig::planning_scene_

protected

Shared planning scene.

Definition at line 300 of file srdf_config.hpp.

◆ robot_model_

moveit::core::RobotModelPtr moveit_setup::SRDFConfig::robot_model_

protected

Definition at line 297 of file srdf_config.hpp.

◆ srdf_

srdf::SRDFWriter moveit_setup::SRDFConfig::srdf_

protected

SRDF Data and Writer.

Definition at line 293 of file srdf_config.hpp.

◆ srdf_path_

std::filesystem::path moveit_setup::SRDFConfig::srdf_path_

protected

Full file-system path to srdf.

Definition at line 287 of file srdf_config.hpp.

◆ srdf_pkg_relative_path_

std::filesystem::path moveit_setup::SRDFConfig::srdf_pkg_relative_path_

protected

Path relative to loaded configuration package.

Definition at line 290 of file srdf_config.hpp.

◆ urdf_model_

std::shared_ptr<urdf::Model> moveit_setup::SRDFConfig::urdf_model_

protected

Definition at line 295 of file srdf_config.hpp.

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

moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/srdf_config.hpp
moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ clearCollisionData()

◆ collectFiles()

◆ collectVariables()

◆ getChangeMask()

◆ getChildOfJoint()

◆ getDisabledCollisions()

◆ getEndEffectors()

◆ getGroupNames()

◆ getGroups()

◆ getGroupStates()

◆ getJointNames()

◆ getLinkNames()

◆ getPassiveJoints()

◆ getPath()

◆ getPlanningScene()

◆ getRelativePath()

◆ getRobotModel()

◆ getVirtualJoints()

◆ isConfigured()

◆ loadPrevious()

◆ loadSRDFFile() [1/2]

◆ loadSRDFFile() [2/2]

◆ loadURDFModel()

◆ onInit()

◆ removePoseByName()

◆ saveToYaml()

◆ updateRobotModel()

◆ write()

Member Data Documentation

◆ changes_

◆ planning_scene_

◆ robot_model_

◆ srdf_

◆ srdf_path_

◆ srdf_pkg_relative_path_

◆ urdf_model_