where all the data for each part of the configuration is stored. More...

#include <config.hpp>

Inheritance diagram for moveit_setup::SetupConfig:

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Public Member Functions
	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. More...

virtual void	onInit ()
	Overridable initialization method. More...

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

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

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

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

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. More...

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

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

Protected Attributes
std::shared_ptr< DataWarehouse >	config_data_

rclcpp::Node::SharedPtr	parent_node_

std::string	name_

std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

where all the data for each part of the configuration is stored.

Definition at line 57 of file config.hpp.

Constructor & Destructor Documentation

◆ SetupConfig() [1/3]

moveit_setup::SetupConfig::SetupConfig ( )

default

◆ SetupConfig() [2/3]

moveit_setup::SetupConfig::SetupConfig ( const SetupConfig & )

default

◆ SetupConfig() [3/3]

moveit_setup::SetupConfig::SetupConfig ( SetupConfig && )

default

◆ ~SetupConfig()

virtual moveit_setup::SetupConfig::~SetupConfig ( )

virtualdefault

Member Function Documentation

◆ collectDependencies()

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

inlinevirtual

Collect the package dependencies generated by this configuration.

Parameters

[out] packages Names of ROS packages

Reimplemented in moveit_setup::URDFConfig, moveit_setup::ModifiedUrdfConfig, and moveit_setup::app::LaunchesConfig.

Definition at line 147 of file config.hpp.

◆ collectFiles()

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

inlinevirtual

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 in moveit_setup::srdf_setup::GroupMetaConfig, moveit_setup::SRDFConfig, moveit_setup::PackageSettingsConfig, moveit_setup::controllers::ROS2ControllersConfig, moveit_setup::controllers::MoveItControllersConfig, moveit_setup::ModifiedUrdfConfig, moveit_setup::controllers::ControlXacroConfig, moveit_setup::app::PerceptionConfig, and moveit_setup::app::LaunchesConfig.

Definition at line 137 of file config.hpp.

◆ collectVariables()

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

inlinevirtual

Collect key/value pairs for use in templates.

Parameters

[out] variables Where to put the new Variables

Reimplemented in moveit_setup::srdf_setup::GroupMetaConfig, moveit_setup::URDFConfig, moveit_setup::SRDFConfig, moveit_setup::PackageSettingsConfig, moveit_setup::ModifiedUrdfConfig, and moveit_setup::controllers::ControlXacroConfig.

Definition at line 156 of file config.hpp.

◆ getName()

const std::string& moveit_setup::SetupConfig::getName ( )

inline

The name for this part of the configuration.

Definition at line 93 of file config.hpp.

◆ initialize()

void moveit_setup::SetupConfig::initialize	(	const std::shared_ptr< DataWarehouse > &	config_data,
		const rclcpp::Node::SharedPtr &	parent_node,
		const std::string &	name
	)

inline

Called after construction to initialize the step.

Parameters

config_data	Pointer to all the other configs
parent_node	Shared pointer to the parent node
name

Definition at line 73 of file config.hpp.

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◆ isConfigured()

virtual bool moveit_setup::SetupConfig::isConfigured ( ) const

inlinevirtual

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

Reimplemented in moveit_setup::srdf_setup::GroupMetaConfig, moveit_setup::URDFConfig, moveit_setup::SRDFConfig, moveit_setup::PackageSettingsConfig, moveit_setup::ModifiedUrdfConfig, moveit_setup::controllers::ControllersConfig, moveit_setup::controllers::ControlXacroConfig, moveit_setup::app::PerceptionConfig, and moveit_setup::app::LaunchesConfig.

Definition at line 101 of file config.hpp.

◆ loadPrevious()

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

inlinevirtual

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 in moveit_setup::srdf_setup::GroupMetaConfig, moveit_setup::URDFConfig, moveit_setup::SRDFConfig, moveit_setup::PackageSettingsConfig, moveit_setup::controllers::ROS2ControllersConfig, moveit_setup::controllers::MoveItControllersConfig, moveit_setup::app::PerceptionConfig, moveit_setup::ModifiedUrdfConfig, and moveit_setup::controllers::ControlXacroConfig.

Definition at line 118 of file config.hpp.

◆ onInit()

virtual void moveit_setup::SetupConfig::onInit ( )

inlinevirtual

Overridable initialization method.

Reimplemented in moveit_setup::URDFConfig, moveit_setup::SRDFConfig, moveit_setup::controllers::ROS2ControllersConfig, moveit_setup::ModifiedUrdfConfig, moveit_setup::IncludedXacroConfig, and moveit_setup::controllers::ControlXacroConfig.

Definition at line 86 of file config.hpp.

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◆ operator=() [1/2]

SetupConfig& moveit_setup::SetupConfig::operator= ( const SetupConfig & )

default

◆ operator=() [2/2]

SetupConfig& moveit_setup::SetupConfig::operator= ( SetupConfig && )

default

◆ saveToYaml()

virtual YAML::Node moveit_setup::SetupConfig::saveToYaml ( ) const

inlinevirtual

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

Reimplemented in moveit_setup::URDFConfig, moveit_setup::SRDFConfig, moveit_setup::PackageSettingsConfig, moveit_setup::ModifiedUrdfConfig, and moveit_setup::controllers::ControlXacroConfig.

Definition at line 125 of file config.hpp.

Member Data Documentation

◆ config_data_

std::shared_ptr<DataWarehouse> moveit_setup::SetupConfig::config_data_

protected

Definition at line 161 of file config.hpp.

◆ logger_

std::shared_ptr<rclcpp::Logger> moveit_setup::SetupConfig::logger_

protected

Definition at line 164 of file config.hpp.

◆ name_

std::string moveit_setup::SetupConfig::name_

protected

Definition at line 163 of file config.hpp.

◆ parent_node_

rclcpp::Node::SharedPtr moveit_setup::SetupConfig::parent_node_

protected

Definition at line 162 of file config.hpp.

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

moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/config.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SetupConfig() [1/3]

◆ SetupConfig() [2/3]

◆ SetupConfig() [3/3]

◆ ~SetupConfig()

Member Function Documentation

◆ collectDependencies()

◆ collectFiles()

◆ collectVariables()

◆ getName()

◆ initialize()

◆ isConfigured()

◆ loadPrevious()

◆ onInit()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ saveToYaml()

Member Data Documentation

◆ config_data_

◆ logger_

◆ name_

◆ parent_node_