moveit_setup::controllers::UrdfModifications Class Reference

#include <urdf_modifications.hpp>

Inheritance diagram for moveit_setup::controllers::UrdfModifications:

Collaboration diagram for moveit_setup::controllers::UrdfModifications:

Public Member Functions
std::string	getName () const override
	Returns the name of the setup step.
void	onInit () override
	Overridable initialization method.
bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured.
void	refresh ()
bool	needsModification () const
	Return true if there aren't ros2_control tags for all the joints.
void	setInterfaces (const std::vector< std::string > &command_interfaces, const std::vector< std::string > &state_interfaces)
	Add ros2_control tags for all unconfigured joints with the specified interfaces.
std::string	getJointsXML () const
const ControlInterfaces &	getDefaultControlInterfaces () const
const ControlInterfaces &	getAvailableControlInterfaces () const
Public Member Functions inherited from moveit_setup::SetupStep
	SetupStep ()=default
	SetupStep (const SetupStep &)=default
	SetupStep (SetupStep &&)=default
SetupStep &	operator= (const SetupStep &)=default
SetupStep &	operator= (SetupStep &&)=default
virtual	~SetupStep ()=default
void	initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
	Called after construction to initialize the step.
const rclcpp::Logger &	getLogger () const
	Makes a namespaced logger for this step available to the widget.

Protected Attributes
std::shared_ptr< SRDFConfig >	srdf_config_
std::shared_ptr< ControlXacroConfig >	control_xacro_config_
Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr	config_data_
rclcpp::Node::SharedPtr	parent_node_
std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

Definition at line 45 of file urdf_modifications.hpp.

Member Function Documentation

getAvailableControlInterfaces()

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

inline

Definition at line 86 of file urdf_modifications.hpp.

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getDefaultControlInterfaces()

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

inline

Definition at line 81 of file urdf_modifications.hpp.

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getJointsXML()

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

inline

Definition at line 76 of file urdf_modifications.hpp.

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getName()

std::string moveit_setup::controllers::UrdfModifications::getName ( ) const

inlineoverridevirtual

Returns the name of the setup step.

Implements moveit_setup::SetupStep.

Definition at line 48 of file urdf_modifications.hpp.

isReady()

bool moveit_setup::controllers::UrdfModifications::isReady ( ) const

inlineoverridevirtual

Return true if the data necessary to proceed with this step has been configured.

Reimplemented from moveit_setup::SetupStep.

Definition at line 55 of file urdf_modifications.hpp.

needsModification()

bool moveit_setup::controllers::UrdfModifications::needsModification

(

)

const

Return true if there aren't ros2_control tags for all the joints.

Definition at line 59 of file urdf_modifications.cpp.

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onInit()

void moveit_setup::controllers::UrdfModifications::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupStep.

Definition at line 43 of file urdf_modifications.cpp.

refresh()

void moveit_setup::controllers::UrdfModifications::refresh ( )

inline

Definition at line 60 of file urdf_modifications.hpp.

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setInterfaces()

void moveit_setup::controllers::UrdfModifications::setInterfaces	(	const std::vector< std::string > &	command_interfaces,
		const std::vector< std::string > &	state_interfaces
	)

Add ros2_control tags for all unconfigured joints with the specified interfaces.

Definition at line 50 of file urdf_modifications.cpp.

Member Data Documentation

control_xacro_config_

std::shared_ptr<ControlXacroConfig> moveit_setup::controllers::UrdfModifications::control_xacro_config_

protected

Definition at line 93 of file urdf_modifications.hpp.

srdf_config_

std::shared_ptr<SRDFConfig> moveit_setup::controllers::UrdfModifications::srdf_config_

protected

Definition at line 92 of file urdf_modifications.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/urdf_modifications.hpp
• moveit_setup_assistant/moveit_setup_controllers/src/urdf_modifications.cpp