moveit_setup::app::PerceptionConfig Class Reference

#include <perception_config.hpp>

Inheritance diagram for moveit_setup::app::PerceptionConfig:

Collaboration diagram for moveit_setup::app::PerceptionConfig:

Classes
class	GeneratedSensorConfig

Public Member Functions
void	loadPrevious (const std::filesystem::path &package_path, const YAML::Node &node) override
	Loads the configuration from an existing MoveIt configuration.
bool	isConfigured () const override
	Return true if this part of the configuration is completely set up.
const std::vector< SensorParameters > &	getSensorPluginConfig ()
	Used for adding a sensor plugin configuration parameter to the sensor plugin configuration parameter list.
void	clearSensorPluginConfig ()
	Clear the sensor plugin configuration parameter list.
void	setConfig (const SensorParameters &parameters)
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.
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.
virtual void	onInit ()
	Overridable initialization method.
const std::string &	getName ()
	The name for this part of the configuration.
virtual YAML::Node	saveToYaml () const
	Optionally save "meta" information for saving in the .setup_assistant yaml file.
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.

Static Public Member Functions
static std::vector< SensorParameters >	load3DSensorsYAML (const std::filesystem::path &file_path)
	Load perception sensor config.

Protected Attributes
std::vector< SensorParameters >	sensors_plugin_config_parameter_list_
	Sensor plugin configuration parameter list, each sensor plugin type is a map of string pairs.
bool	changed_ { false }
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 47 of file perception_config.hpp.

Member Function Documentation

clearSensorPluginConfig()

void moveit_setup::app::PerceptionConfig::clearSensorPluginConfig

(

)

Clear the sensor plugin configuration parameter list.

Definition at line 118 of file perception_config.cpp.

collectFiles()

void moveit_setup::app::PerceptionConfig::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 105 of file perception_config.hpp.

getSensorPluginConfig()

const std::vector< SensorParameters > & moveit_setup::app::PerceptionConfig::getSensorPluginConfig ( )

inline

Used for adding a sensor plugin configuration parameter to the sensor plugin configuration parameter list.

Definition at line 63 of file perception_config.hpp.

isConfigured()

bool moveit_setup::app::PerceptionConfig::isConfigured ( ) const

inlineoverridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 55 of file perception_config.hpp.

load3DSensorsYAML()

std::vector< SensorParameters > moveit_setup::app::PerceptionConfig::load3DSensorsYAML ( const std::filesystem::path &  file_path )

static

Load perception sensor config.

Definition at line 67 of file perception_config.cpp.

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loadPrevious()

void moveit_setup::app::PerceptionConfig::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 46 of file perception_config.cpp.

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setConfig()

void moveit_setup::app::PerceptionConfig::setConfig

(

const SensorParameters &

parameters

)

Definition at line 131 of file perception_config.cpp.

Member Data Documentation

changed_

bool moveit_setup::app::PerceptionConfig::changed_ { false }

protected

Definition at line 114 of file perception_config.hpp.

sensors_plugin_config_parameter_list_

std::vector<SensorParameters> moveit_setup::app::PerceptionConfig::sensors_plugin_config_parameter_list_

protected

Sensor plugin configuration parameter list, each sensor plugin type is a map of string pairs.

Definition at line 113 of file perception_config.hpp.

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

• moveit_setup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/perception_config.hpp
• moveit_setup_assistant/moveit_setup_app_plugins/src/perception_config.cpp