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The MoveIt Motion Planning Framework for ROS 2.
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moveit_setup::srdf_setup::GroupMetaConfig Class Reference

#include <group_meta_config.hpp>

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Classes

class  GeneratedGroupMetaConfig
 

Public Member Functions

bool isConfigured () const override
 Return true if this part of the configuration is completely set up. More...
 
void loadPrevious (const std::filesystem::path &package_path, const YAML::Node &node) override
 Loads the configuration from an existing MoveIt configuration. More...
 
void deleteGroup (const std::string &group_name)
 
void renameGroup (const std::string &old_group_name, const std::string &new_group_name)
 
const GroupMetaDatagetMetaData (const std::string &group_name) const
 
void setMetaData (const std::string &group_name, const GroupMetaData &meta_data)
 
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. More...
 
void collectVariables (std::vector< TemplateVariable > &variables) override
 Collect key/value pairs for use in templates. More...
 
- Public Member Functions inherited from moveit_setup::SetupConfig
 SetupConfig ()=default
 
 SetupConfig (const SetupConfig &)=default
 
 SetupConfig (SetupConfig &&)=default
 
SetupConfigoperator= (const SetupConfig &)=default
 
SetupConfigoperator= (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. More...
 
virtual void onInit ()
 Overridable initialization method. More...
 
const std::string & getName ()
 The name for this part of the configuration. More...
 
virtual YAML::Node saveToYaml () const
 Optionally save "meta" information for saving in the .setup_assistant yaml file. More...
 
virtual void collectDependencies (std::set< std::string > &) const
 Collect the package dependencies generated by this configuration. More...
 

Protected Member Functions

bool inputKinematicsYAML (const std::filesystem::path &file_path)
 

Protected Attributes

std::map< std::string, GroupMetaDatagroup_meta_data_
 Planning groups extra data not found in srdf but used in config files. More...
 
GroupMetaData default_values_
 
bool changed_ { false }
 
- Protected Attributes inherited from moveit_setup::SetupConfig
std::shared_ptr< DataWarehouseconfig_data_
 
rclcpp::Node::SharedPtr parent_node_
 
std::string name_
 
std::shared_ptr< rclcpp::Logger > logger_
 

Detailed Description

Definition at line 64 of file group_meta_config.hpp.

Member Function Documentation

◆ collectFiles()

void moveit_setup::srdf_setup::GroupMetaConfig::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_paththe path to the root of the config package
[in]last_gen_timeThe time (if any) when the config package was last generated
[out]filesWhere to put the new generated files

Reimplemented from moveit_setup::SetupConfig.

Definition at line 107 of file group_meta_config.hpp.

◆ collectVariables()

void moveit_setup::srdf_setup::GroupMetaConfig::collectVariables ( std::vector< TemplateVariable > &  )
overridevirtual

Collect key/value pairs for use in templates.

Parameters
[out]variablesWhere to put the new Variables

Reimplemented from moveit_setup::SetupConfig.

Definition at line 174 of file group_meta_config.cpp.

◆ deleteGroup()

void moveit_setup::srdf_setup::GroupMetaConfig::deleteGroup ( const std::string &  group_name)

Definition at line 62 of file group_meta_config.cpp.

◆ getMetaData()

const GroupMetaData & moveit_setup::srdf_setup::GroupMetaConfig::getMetaData ( const std::string &  group_name) const

Definition at line 75 of file group_meta_config.cpp.

◆ inputKinematicsYAML()

bool moveit_setup::srdf_setup::GroupMetaConfig::inputKinematicsYAML ( const std::filesystem::path &  file_path)
protected

Definition at line 94 of file group_meta_config.cpp.

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◆ isConfigured()

bool moveit_setup::srdf_setup::GroupMetaConfig::isConfigured ( ) const
overridevirtual

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

Reimplemented from moveit_setup::SetupConfig.

Definition at line 43 of file group_meta_config.cpp.

◆ loadPrevious()

void moveit_setup::srdf_setup::GroupMetaConfig::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_pathThe path to the root folder of the configuration.

Reimplemented from moveit_setup::SetupConfig.

Definition at line 51 of file group_meta_config.cpp.

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◆ renameGroup()

void moveit_setup::srdf_setup::GroupMetaConfig::renameGroup ( const std::string &  old_group_name,
const std::string &  new_group_name 
)

Definition at line 68 of file group_meta_config.cpp.

◆ setMetaData()

void moveit_setup::srdf_setup::GroupMetaConfig::setMetaData ( const std::string &  group_name,
const GroupMetaData meta_data 
)

Definition at line 88 of file group_meta_config.cpp.

Member Data Documentation

◆ changed_

bool moveit_setup::srdf_setup::GroupMetaConfig::changed_ { false }
protected

Definition at line 124 of file group_meta_config.hpp.

◆ default_values_

GroupMetaData moveit_setup::srdf_setup::GroupMetaConfig::default_values_
protected

Definition at line 122 of file group_meta_config.hpp.

◆ group_meta_data_

std::map<std::string, GroupMetaData> moveit_setup::srdf_setup::GroupMetaConfig::group_meta_data_
protected

Planning groups extra data not found in srdf but used in config files.

Definition at line 120 of file group_meta_config.hpp.


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