#include <moveit_controllers_config.hpp>

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Classes
class	GeneratedControllersConfig

Public Member Functions
void	loadPrevious (const std::filesystem::path &package_path, const YAML::Node &node) override
	Loads the configuration from an existing MoveIt configuration.

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::controllers::ControllersConfig
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 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.

Protected Member Functions
bool	parseController (const std::string &name, const YAML::Node &controller)

Protected Attributes
std::map< std::string, YAML::Node >	trajectory_parameters_

Protected Attributes inherited from moveit_setup::controllers::ControllersConfig
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

Definition at line 47 of file moveit_controllers_config.hpp.

Member Function Documentation

◆ collectFiles()

void moveit_setup::controllers::MoveItControllersConfig::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 82 of file moveit_controllers_config.hpp.

◆ loadPrevious()

void moveit_setup::controllers::MoveItControllersConfig::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 44 of file moveit_controllers_config.cpp.

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◆ parseController()

bool moveit_setup::controllers::MoveItControllersConfig::parseController	(	const std::string &	name,
		const YAML::Node &	controller
	)

protected

Helper function for parsing ros_controllers.yaml file

Parameters

YAML::Node - individual controller to be parsed

Returns: true if the file was read correctly

Definition at line 104 of file moveit_controllers_config.cpp.

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Member Data Documentation

◆ trajectory_parameters_

std::map<std::string, YAML::Node> moveit_setup::controllers::MoveItControllersConfig::trajectory_parameters_

protected

Definition at line 96 of file moveit_controllers_config.hpp.

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

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ collectFiles()

◆ loadPrevious()

◆ parseController()

Member Data Documentation

◆ trajectory_parameters_