moveit_setup::controllers::ControllersConfig Class Reference

All the controller configurations. More...

#include <controllers_config.hpp>

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Collaboration diagram for moveit_setup::controllers::ControllersConfig:

Public Member Functions
bool	isConfigured () const override
	Return true if this part of the configuration is completely set up.
std::vector< ControllerInfo > &	getControllers ()
	Gets controllers_ vector.
bool	addController (const std::string &name, const std::string &type, const std::vector< std::string > &joint_names)
	Adds a controller to controllers_ vector.
bool	addController (const ControllerInfo &new_controller)
	Adds a controller to controllers_ vector.
ControllerInfo *	findControllerByName (const std::string &controller_name)
bool	deleteController (const std::string &controller_name)
bool	hasChangedGroups () 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.
virtual void	onInit ()
	Overridable initialization method.
const std::string &	getName ()
	The name for this part of the configuration.
virtual void	loadPrevious (const std::filesystem::path &, const YAML::Node &)
	Loads the configuration from an existing MoveIt configuration.
virtual YAML::Node	saveToYaml () const
	Optionally save "meta" information for saving in the .setup_assistant yaml file.
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.
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.

Protected Attributes
std::vector< ControllerInfo >	controllers_
	Controllers config data.
bool	changed_
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

All the controller configurations.

Definition at line 62 of file controllers_config.hpp.

Member Function Documentation

addController() [1/2]

bool moveit_setup::controllers::ControllersConfig::addController

(

const ControllerInfo &

new_controller

)

Adds a controller to controllers_ vector.

Parameters

new_controller

a new Controller to add

Returns

true if inserted correctly

Definition at line 55 of file controllers_config.cpp.

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addController() [2/2]

bool moveit_setup::controllers::ControllersConfig::addController	(	const std::string &	name,
		const std::string &	type,
		const std::vector< std::string > &	joint_names
	)

Adds a controller to controllers_ vector.

Parameters

name	Name of the controller
type	type of the controller
joint_names	vector of the joint names

Returns

true if inserted correctly

Definition at line 45 of file controllers_config.cpp.

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deleteController()

bool moveit_setup::controllers::ControllersConfig::deleteController

(

const std::string &

controller_name

)

Delete controller by name

Parameters

controller_name

- name of controller to delete

Returns

true if deleted, false if not found

Definition at line 87 of file controllers_config.cpp.

findControllerByName()

ControllerInfo * moveit_setup::controllers::ControllersConfig::findControllerByName

(

const std::string &

controller_name

)

Find the associated controller by name

Parameters

controller_name

- name of controller to find in datastructure

Returns

pointer to data in datastructure

Definition at line 70 of file controllers_config.cpp.

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getControllers()

std::vector< ControllerInfo > & moveit_setup::controllers::ControllersConfig::getControllers ( )

inline

Gets controllers_ vector.

Definition at line 73 of file controllers_config.hpp.

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hasChangedGroups()

bool moveit_setup::controllers::ControllersConfig::hasChangedGroups ( ) const

inline

Definition at line 110 of file controllers_config.hpp.

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isConfigured()

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

inlineoverridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 65 of file controllers_config.hpp.

Member Data Documentation

changed_

bool moveit_setup::controllers::ControllersConfig::changed_

protected

Definition at line 119 of file controllers_config.hpp.

controllers_

std::vector<ControllerInfo> moveit_setup::controllers::ControllersConfig::controllers_

protected

Controllers config data.

Definition at line 118 of file controllers_config.hpp.

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

• moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/controllers_config.hpp
• moveit_setup_assistant/moveit_setup_controllers/src/controllers_config.cpp