#include <planning_groups.hpp>

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Public Member Functions
std::string	getName () const override
	Returns the name of the setup step.

std::vector< srdf::Model::Group > &	getContainer () override
	Returns the reference to the vector in the SRDF.

InformationFields	getInfoField () const override
	Returns the info field associated with this part of the SRDF.

void	onInit () override
	Overridable initialization method.

std::vector< srdf::Model::Group > &	getGroups ()

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

void	deleteGroup (const std::string &group_name)

void	setJoints (const std::string &group_name, const std::vector< std::string > &joint_names)
	Set the specified group's joint names.

void	setLinks (const std::string &group_name, const std::vector< std::string > &link_names)
	Set the specified group's link names.

void	setChain (const std::string &group_name, const std::string &base, const std::string &tip)
	Set the specified group's kinematic chain.

void	setSubgroups (const std::string &selected_group_name, const std::vector< std::string > &subgroups)
	Set the specified group's subgroups.

const GroupMetaData &	getMetaData (const std::string &group_name) const

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

std::vector< std::string >	getGroupNames () const

const std::vector< std::string > &	getJointNames () const

const std::vector< std::string > &	getLinkNames () const

std::string	getChildOfJoint (const std::string &joint_name) const

std::string	getJointType (const std::string &joint_name) const

LinkNameTree	getLinkNameTree () const

std::vector< std::string >	getPosesByGroup (const std::string &group_name) const

std::vector< std::string >	getEndEffectorsByGroup (const std::string &group_name) const

std::vector< std::string >	getKinematicPlanners () const

std::vector< std::string >	getOMPLPlanners () const

Public Member Functions inherited from moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group >
srdf::Model::Group *	find (const std::string &name)
	Return a pointer to an item with the given name if it exists, otherwise null.

srdf::Model::Group *	create (const std::string &name)
	Create an item with the given name and return the pointer.

srdf::Model::Group *	rename (const std::string &old_name, const std::string &new_name)
	Renames an item and returns a pointer to the item.

bool	remove (const std::string &name)
	Delete an item with the given name from the list.

srdf::Model::Group *	get (const std::string &name, const std::string &old_name="")
	Get a pointer to an item with the given name, creating if necessary. If old_name is provided (and is different) will rename the given item.

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

bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured.

bool	hasGroups () 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< GroupMetaConfig >	group_meta_config_

Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep
std::shared_ptr< SRDFConfig >	srdf_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 66 of file planning_groups.hpp.

Member Function Documentation

◆ deleteGroup()

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

Definition at line 136 of file planning_groups.cpp.

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◆ getChildOfJoint()

std::string moveit_setup::srdf_setup::PlanningGroups::getChildOfJoint ( const std::string & joint_name ) const

Definition at line 343 of file planning_groups.cpp.

◆ getContainer()

std::vector< srdf::Model::Group > & moveit_setup::srdf_setup::PlanningGroups::getContainer ( )

inlineoverridevirtual

Returns the reference to the vector in the SRDF.

Implements moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group >.

Definition at line 74 of file planning_groups.hpp.

◆ getEndEffectorsByGroup()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getEndEffectorsByGroup ( const std::string & group_name ) const

Definition at line 377 of file planning_groups.cpp.

◆ getGroupNames()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getGroupNames ( ) const

inline

Definition at line 126 of file planning_groups.hpp.

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◆ getGroups()

std::vector< srdf::Model::Group > & moveit_setup::srdf_setup::PlanningGroups::getGroups ( )

inline

Definition at line 86 of file planning_groups.hpp.

◆ getInfoField()

InformationFields moveit_setup::srdf_setup::PlanningGroups::getInfoField ( ) const

inlineoverridevirtual

Returns the info field associated with this part of the SRDF.

Implements moveit_setup::srdf_setup::SuperSRDFStep< srdf::Model::Group >.

Definition at line 79 of file planning_groups.hpp.

◆ getJointNames()

const std::vector< std::string > & moveit_setup::srdf_setup::PlanningGroups::getJointNames ( ) const

inline

Definition at line 131 of file planning_groups.hpp.

◆ getJointType()

std::string moveit_setup::srdf_setup::PlanningGroups::getJointType ( const std::string & joint_name ) const

Definition at line 348 of file planning_groups.cpp.

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◆ getKinematicPlanners()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getKinematicPlanners ( ) const

Definition at line 390 of file planning_groups.cpp.

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◆ getLinkNames()

const std::vector< std::string > & moveit_setup::srdf_setup::PlanningGroups::getLinkNames ( ) const

inline

Definition at line 136 of file planning_groups.hpp.

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◆ getLinkNameTree()

LinkNameTree moveit_setup::srdf_setup::PlanningGroups::getLinkNameTree ( ) const

Definition at line 358 of file planning_groups.cpp.

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◆ getMetaData()

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

inline

Definition at line 116 of file planning_groups.hpp.

◆ getName()

std::string moveit_setup::srdf_setup::PlanningGroups::getName ( ) const

inlineoverridevirtual

Returns the name of the setup step.

Implements moveit_setup::SetupStep.

Definition at line 69 of file planning_groups.hpp.

◆ getOMPLPlanners()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getOMPLPlanners ( ) const

Definition at line 418 of file planning_groups.cpp.

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◆ getPosesByGroup()

std::vector< std::string > moveit_setup::srdf_setup::PlanningGroups::getPosesByGroup ( const std::string & group_name ) const

Definition at line 364 of file planning_groups.cpp.

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◆ onInit()

void moveit_setup::srdf_setup::PlanningGroups::onInit ( )

overridevirtual

Overridable initialization method.

Reimplemented from moveit_setup::SetupStep.

Definition at line 66 of file planning_groups.cpp.

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◆ renameGroup()

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

Definition at line 73 of file planning_groups.cpp.

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◆ setChain()

void moveit_setup::srdf_setup::PlanningGroups::setChain	(	const std::string &	group_name,
		const std::string &	base,
		const std::string &	tip
	)

Set the specified group's kinematic chain.

Exceptions

runtime_error If base/tip are invalid

Definition at line 207 of file planning_groups.cpp.

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◆ setJoints()

void moveit_setup::srdf_setup::PlanningGroups::setJoints	(	const std::string &	group_name,
		const std::vector< std::string > &	joint_names
	)

Set the specified group's joint names.

Definition at line 183 of file planning_groups.cpp.

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◆ setLinks()

void moveit_setup::srdf_setup::PlanningGroups::setLinks	(	const std::string &	group_name,
		const std::vector< std::string > &	link_names
	)

Set the specified group's link names.

Definition at line 195 of file planning_groups.cpp.

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◆ setMetaData()

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

inline

Definition at line 121 of file planning_groups.hpp.

◆ setSubgroups()

void moveit_setup::srdf_setup::PlanningGroups::setSubgroups	(	const std::string &	selected_group_name,
		const std::vector< std::string > &	subgroups
	)

Set the specified group's subgroups.

Exceptions

runtime_error If subgroup would result in a cycle

Definition at line 269 of file planning_groups.cpp.

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Member Data Documentation

◆ group_meta_config_

std::shared_ptr<GroupMetaConfig> moveit_setup::srdf_setup::PlanningGroups::group_meta_config_

protected

Definition at line 150 of file planning_groups.hpp.

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

moveit_setup_assistant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/planning_groups.hpp
moveit_setup_assistant/moveit_setup_srdf_plugins/src/planning_groups.cpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ deleteGroup()

◆ getChildOfJoint()

◆ getContainer()

◆ getEndEffectorsByGroup()

◆ getGroupNames()

◆ getGroups()

◆ getInfoField()

◆ getJointNames()

◆ getJointType()

◆ getKinematicPlanners()

◆ getLinkNames()

◆ getLinkNameTree()

◆ getMetaData()

◆ getName()

◆ getOMPLPlanners()

◆ getPosesByGroup()

◆ onInit()

◆ renameGroup()

◆ setChain()

◆ setJoints()

◆ setLinks()

◆ setMetaData()

◆ setSubgroups()

Member Data Documentation

◆ group_meta_config_