#include <control_xacro_config.hpp>

Inheritance diagram for moveit_setup::controllers::ControlXacroConfig:

[legend]

Collaboration diagram for moveit_setup::controllers::ControlXacroConfig:

[legend]

Classes
class	GeneratedControlHeader

class	GeneratedInitialPositions

Public Member Functions
void	loadFromDescription ()
	Load the original command interfaces from the original (unmodified) URDF.

bool	hasAllControlTagsInOriginal () const

std::string	getJointsXML () const
	Return the additional joint xml needed for ros2_control tags.

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.

SetupConfig overrides
void	onInit () override
	Overridable initialization method.

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

IncludedXacroConfig overrides
std::string	getFilepath () const override
	The file path to use in the <xacro:include> tag.

bool	hasChanges () const override
	Returns if the xacro and its properties have changed, resulting in the whole urdf needing regeneration.

std::vector< std::pair< std::string, std::string > >	getArguments () const override
	Returns a list of name/value pairs for arguments that the modified urdf should have.

std::vector< std::string >	getCommands () const override
	Return a list of additional commands that need to be inserted after the xacro is included.

Data access and modification
const ControlInterfaces &	getAvailableControlInterfaces () const

const ControlInterfaces &	getDefaultControlInterfaces () const

void	setControlInterfaces (const ControlInterfaces &ci)
	Use the specified controller interfaces for all the lacking joints.

const ControlInterfaces	getControlInterfaces (const std::vector< std::string > &joint_names) const
	Get all the control interfaces for all of the specified joint names.

Public Member Functions inherited from moveit_setup::IncludedXacroConfig
void	onInit () override
	Overridable initialization method.

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	getControlInterfaces (const std::string &joint_name, ControlInterfaces &ci) const

Protected Attributes
std::vector< std::string >	joint_names_

std::unordered_map< std::string, ControlInterfaces >	original_joint_interfaces_
	A list of all joints used by the current SRDF groups.

std::unordered_map< std::string, ControlInterfaces >	new_joint_interfaces_

ControlInterfaces	default_ci_

ControlInterfaces	available_ci_

srdf::Model::GroupState	initial_group_state_

bool	changed_

Protected Attributes inherited from moveit_setup::IncludedXacroConfig
std::shared_ptr< URDFConfig >	urdf_config_

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_

Additional Inherited Members
Public Types inherited from moveit_setup::IncludedXacroConfig
using	Ptr = std::shared_ptr< IncludedXacroConfig >

Detailed Description

Definition at line 57 of file control_xacro_config.hpp.

Member Function Documentation

◆ collectFiles()

void moveit_setup::controllers::ControlXacroConfig::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 178 of file control_xacro_config.hpp.

◆ collectVariables()

void moveit_setup::controllers::ControlXacroConfig::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 314 of file control_xacro_config.cpp.

Here is the call graph for this function:

◆ getArguments()

std::vector< std::pair< std::string, std::string > > moveit_setup::controllers::ControlXacroConfig::getArguments ( ) const

overridevirtual

Returns a list of name/value pairs for arguments that the modified urdf should have.

Result will be <xacro:arg name="pair.first" default="pair.second" />

Reimplemented from moveit_setup::IncludedXacroConfig.

Definition at line 91 of file control_xacro_config.cpp.

◆ getAvailableControlInterfaces()

const ControlInterfaces & moveit_setup::controllers::ControlXacroConfig::getAvailableControlInterfaces ( ) const

inline

Definition at line 88 of file control_xacro_config.hpp.

◆ getCommands()

std::vector< std::string > moveit_setup::controllers::ControlXacroConfig::getCommands ( ) const

overridevirtual

Return a list of additional commands that need to be inserted after the xacro is included.

e.g. If the included xacro includes a macro definition, the command to run the macro could be here.

Reimplemented from moveit_setup::IncludedXacroConfig.

Definition at line 98 of file control_xacro_config.cpp.

◆ getControlInterfaces() [1/2]

void moveit_setup::controllers::ControlXacroConfig::getControlInterfaces	(	const std::string &	joint_name,
		ControlInterfaces &	ci
	)		const

protected

Definition at line 213 of file control_xacro_config.cpp.

Here is the call graph for this function:

◆ getControlInterfaces() [2/2]

const ControlInterfaces moveit_setup::controllers::ControlXacroConfig::getControlInterfaces ( const std::vector< std::string > & joint_names ) const

Get all the control interfaces for all of the specified joint names.

Definition at line 222 of file control_xacro_config.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ getDefaultControlInterfaces()

const ControlInterfaces & moveit_setup::controllers::ControlXacroConfig::getDefaultControlInterfaces ( ) const

inline

Definition at line 93 of file control_xacro_config.hpp.

◆ getFilepath()

std::string moveit_setup::controllers::ControlXacroConfig::getFilepath ( ) const

overridevirtual

The file path to use in the <xacro:include> tag.

If the file is in MoveIt config's config folder, just the file name is fine. Alternatively you can return a package string a la $(find SOME_PACKAGE_NAME)/relative/path/to/header.xacro

Implements moveit_setup::IncludedXacroConfig.

Definition at line 81 of file control_xacro_config.cpp.

◆ getJointsXML()

std::string moveit_setup::controllers::ControlXacroConfig::getJointsXML ( ) const

Return the additional joint xml needed for ros2_control tags.

Definition at line 232 of file control_xacro_config.cpp.

Here is the caller graph for this function:

◆ hasAllControlTagsInOriginal()

bool moveit_setup::controllers::ControlXacroConfig::hasAllControlTagsInOriginal ( ) const

Definition at line 160 of file control_xacro_config.cpp.

◆ hasChanges()

bool moveit_setup::controllers::ControlXacroConfig::hasChanges ( ) const

overridevirtual

Returns if the xacro and its properties have changed, resulting in the whole urdf needing regeneration.

Implements moveit_setup::IncludedXacroConfig.

Definition at line 86 of file control_xacro_config.cpp.

Here is the caller graph for this function:

◆ isConfigured()

bool moveit_setup::controllers::ControlXacroConfig::isConfigured ( ) const

overridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 76 of file control_xacro_config.cpp.

◆ loadFromDescription()

void moveit_setup::controllers::ControlXacroConfig::loadFromDescription ( )

Load the original command interfaces from the original (unmodified) URDF.

Needs to be run whenever the URDF/SRDF may have changed

Definition at line 116 of file control_xacro_config.cpp.

Here is the call graph for this function:

◆ loadPrevious()

void moveit_setup::controllers::ControlXacroConfig::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 55 of file control_xacro_config.cpp.

Here is the call graph for this function:

◆ onInit()

void moveit_setup::controllers::ControlXacroConfig::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 46 of file control_xacro_config.cpp.

Here is the call graph for this function:

◆ saveToYaml()

YAML::Node moveit_setup::controllers::ControlXacroConfig::saveToYaml ( ) const

overridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 68 of file control_xacro_config.cpp.

◆ setControlInterfaces()

void moveit_setup::controllers::ControlXacroConfig::setControlInterfaces ( const ControlInterfaces & ci )

Use the specified controller interfaces for all the lacking joints.

Definition at line 165 of file control_xacro_config.cpp.

Here is the caller graph for this function:

Member Data Documentation

◆ available_ci_

ControlInterfaces moveit_setup::controllers::ControlXacroConfig::available_ci_

protected

Definition at line 193 of file control_xacro_config.hpp.

◆ changed_

bool moveit_setup::controllers::ControlXacroConfig::changed_

protected

Definition at line 196 of file control_xacro_config.hpp.

◆ default_ci_

ControlInterfaces moveit_setup::controllers::ControlXacroConfig::default_ci_

protected

Definition at line 193 of file control_xacro_config.hpp.

◆ initial_group_state_

srdf::Model::GroupState moveit_setup::controllers::ControlXacroConfig::initial_group_state_

protected

Definition at line 194 of file control_xacro_config.hpp.

◆ joint_names_

std::vector<std::string> moveit_setup::controllers::ControlXacroConfig::joint_names_

protected

Definition at line 190 of file control_xacro_config.hpp.

◆ new_joint_interfaces_

std::unordered_map<std::string, ControlInterfaces> moveit_setup::controllers::ControlXacroConfig::new_joint_interfaces_

protected

Definition at line 191 of file control_xacro_config.hpp.

◆ original_joint_interfaces_

std::unordered_map<std::string, ControlInterfaces> moveit_setup::controllers::ControlXacroConfig::original_joint_interfaces_

protected

A list of all joints used by the current SRDF groups.

Definition at line 191 of file control_xacro_config.hpp.

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ collectFiles()

◆ collectVariables()

◆ getArguments()

◆ getAvailableControlInterfaces()

◆ getCommands()

◆ getControlInterfaces() [1/2]

◆ getControlInterfaces() [2/2]

◆ getDefaultControlInterfaces()

◆ getFilepath()

◆ getJointsXML()

◆ hasAllControlTagsInOriginal()

◆ hasChanges()

◆ isConfigured()

◆ loadFromDescription()

◆ loadPrevious()

◆ onInit()

◆ saveToYaml()

◆ setControlInterfaces()

Member Data Documentation

◆ available_ci_

◆ changed_

◆ default_ci_

◆ initial_group_state_

◆ joint_names_

◆ new_joint_interfaces_

◆ original_joint_interfaces_