end_effectors.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_srdf_plugins/end_effectors.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
void EndEffectors::onInit()
{
  SuperSRDFStep::onInit();
  urdf_config_ = config_data_->get<URDFConfig>("urdf");
}
 
bool EndEffectors::isLinkInGroup(const std::string& link, const std::string& group) const
{
  const auto rm = srdf_config_->getRobotModel();
  const moveit::core::JointModelGroup* jmg = rm->getJointModelGroup(group);
  return jmg->hasLinkModel(link);
}
 
void EndEffectors::setProperties(srdf::Model::EndEffector* eef, const std::string& parent_link,
                                 const std::string& component_group, const std::string& parent_group)
{
  eef->parent_link_ = parent_link;
  eef->component_group_ = component_group;
  eef->parent_group_ = parent_group;
  srdf_config_->updateRobotModel(END_EFFECTORS);
}
 
}  // namespace srdf_setup
}  // namespace moveit_setup