#include <urdf_config.hpp>

Inheritance diagram for moveit_setup::URDFConfig:

Collaboration diagram for moveit_setup::URDFConfig:

Public Member Functions
	URDFConfig ()

void	onInit () override
	Overridable initialization method.

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	loadFromPath (const std::filesystem::path &urdf_file_path, const std::string &xacro_args="")
	Load URDF File.

void	loadFromPath (const std::filesystem::path &urdf_file_path, const std::vector< std::string > &xacro_args)

void	loadFromPackage (const std::filesystem::path &package_name, const std::filesystem::path &relative_path, const std::string &xacro_args="")

const urdf::Model &	getModel () const

const std::shared_ptr< urdf::Model > &	getModelPtr () const

std::string	getURDFPackageName () const

std::string	getURDFContents () const

std::filesystem::path	getURDFPath () const

std::string	getXacroArgs () const

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

bool	isXacroFile () const

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.

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

Protected Member Functions
void	setPackageName ()

void	load ()

Protected Attributes
std::filesystem::path	urdf_path_
	Full file-system path to urdf.

std::string	urdf_pkg_name_
	Name of package containing urdf (note: this may be empty b/c user may not have urdf in pkg)

std::filesystem::path	urdf_pkg_relative_path_
	Path relative to urdf package (note: this may be same as urdf_path_)

bool	urdf_from_xacro_
	Flag indicating whether the URDF was loaded from .xacro format.

std::string	xacro_args_
	xacro arguments in two different formats

std::vector< std::string >	xacro_args_vec_

std::shared_ptr< urdf::Model >	urdf_model_
	URDF robot model.

std::string	urdf_string_
	URDF robot model string.

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 46 of file urdf_config.hpp.

Constructor & Destructor Documentation

◆ URDFConfig()

moveit_setup::URDFConfig::URDFConfig ( )

inline

Definition at line 49 of file urdf_config.hpp.

Member Function Documentation

◆ collectDependencies()

void moveit_setup::URDFConfig::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 175 of file urdf_config.cpp.

◆ collectVariables()

void moveit_setup::URDFConfig::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 180 of file urdf_config.cpp.

◆ getModel()

const urdf::Model & moveit_setup::URDFConfig::getModel ( ) const

inline

Definition at line 65 of file urdf_config.hpp.

◆ getModelPtr()

const std::shared_ptr< urdf::Model > & moveit_setup::URDFConfig::getModelPtr ( ) const

inline

Definition at line 70 of file urdf_config.hpp.

Here is the caller graph for this function:

◆ getRobotName()

std::string moveit_setup::URDFConfig::getRobotName ( ) const

inline

Definition at line 103 of file urdf_config.hpp.

◆ getURDFContents()

std::string moveit_setup::URDFConfig::getURDFContents ( ) const

inline

Definition at line 80 of file urdf_config.hpp.

Here is the caller graph for this function:

◆ getURDFPackageName()

std::string moveit_setup::URDFConfig::getURDFPackageName ( ) const

inline

Definition at line 75 of file urdf_config.hpp.

◆ getURDFPath()

std::filesystem::path moveit_setup::URDFConfig::getURDFPath ( ) const

inline

Definition at line 85 of file urdf_config.hpp.

◆ getXacroArgs()

std::string moveit_setup::URDFConfig::getXacroArgs ( ) const

inline

Definition at line 90 of file urdf_config.hpp.

◆ isConfigured()

bool moveit_setup::URDFConfig::isConfigured ( ) const

overridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 170 of file urdf_config.cpp.

◆ isXacroFile()

bool moveit_setup::URDFConfig::isXacroFile ( ) const

Definition at line 165 of file urdf_config.cpp.

Here is the call graph for this function:

◆ load()

void moveit_setup::URDFConfig::load ( )

protected

Definition at line 137 of file urdf_config.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadFromPackage()

void moveit_setup::URDFConfig::loadFromPackage	(	const std::filesystem::path &	package_name,
		const std::filesystem::path &	relative_path,
		const std::string &	xacro_args = `""`
	)

Definition at line 120 of file urdf_config.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadFromPath() [1/2]

void moveit_setup::URDFConfig::loadFromPath	(	const std::filesystem::path &	urdf_file_path,
		const std::string &	xacro_args = `""`
	)

Load URDF File.

Definition at line 75 of file urdf_config.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadFromPath() [2/2]

void moveit_setup::URDFConfig::loadFromPath	(	const std::filesystem::path &	urdf_file_path,
		const std::vector< std::string > &	xacro_args
	)

Definition at line 84 of file urdf_config.cpp.

Here is the call graph for this function:

◆ loadPrevious()

void moveit_setup::URDFConfig::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 urdf_config.cpp.

Here is the call graph for this function:

◆ onInit()

void moveit_setup::URDFConfig::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 42 of file urdf_config.cpp.

◆ saveToYaml()

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

overridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 63 of file urdf_config.cpp.

◆ setPackageName()

void moveit_setup::URDFConfig::setPackageName ( )

protected

Definition at line 93 of file urdf_config.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ urdf_from_xacro_

bool moveit_setup::URDFConfig::urdf_from_xacro_

protected

Flag indicating whether the URDF was loaded from .xacro format.

Definition at line 122 of file urdf_config.hpp.

◆ urdf_model_

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

protected

URDF robot model.

Definition at line 129 of file urdf_config.hpp.

◆ urdf_path_

std::filesystem::path moveit_setup::URDFConfig::urdf_path_

protected

Full file-system path to urdf.

Definition at line 113 of file urdf_config.hpp.

◆ urdf_pkg_name_

std::string moveit_setup::URDFConfig::urdf_pkg_name_

protected

Name of package containing urdf (note: this may be empty b/c user may not have urdf in pkg)

Definition at line 116 of file urdf_config.hpp.

◆ urdf_pkg_relative_path_

std::filesystem::path moveit_setup::URDFConfig::urdf_pkg_relative_path_

protected

Path relative to urdf package (note: this may be same as urdf_path_)

Definition at line 119 of file urdf_config.hpp.

◆ urdf_string_

std::string moveit_setup::URDFConfig::urdf_string_

protected

URDF robot model string.

Definition at line 132 of file urdf_config.hpp.

◆ xacro_args_

std::string moveit_setup::URDFConfig::xacro_args_

protected

xacro arguments in two different formats

Definition at line 125 of file urdf_config.hpp.

◆ xacro_args_vec_

std::vector<std::string> moveit_setup::URDFConfig::xacro_args_vec_

protected

Definition at line 126 of file urdf_config.hpp.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ URDFConfig()

Member Function Documentation

◆ collectDependencies()

◆ collectVariables()

◆ getModel()

◆ getModelPtr()

◆ getRobotName()

◆ getURDFContents()

◆ getURDFPackageName()

◆ getURDFPath()

◆ getXacroArgs()

◆ isConfigured()

◆ isXacroFile()

◆ load()

◆ loadFromPackage()

◆ loadFromPath() [1/2]

◆ loadFromPath() [2/2]

◆ loadPrevious()

◆ onInit()

◆ saveToYaml()

◆ setPackageName()

Member Data Documentation

◆ urdf_from_xacro_

◆ urdf_model_

◆ urdf_path_

◆ urdf_pkg_name_

◆ urdf_pkg_relative_path_

◆ urdf_string_

◆ xacro_args_

◆ xacro_args_vec_