end_effectors.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_setup_framework/data/urdf_config.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
class EndEffectors : public SuperSRDFStep<srdf::Model::EndEffector>
{
public:
  std::string getName() const override
  {
    return "End Effectors";
  }
 
  std::vector<srdf::Model::EndEffector>& getContainer() override
  {
    return srdf_config_->getEndEffectors();
  }
 
  InformationFields getInfoField() const override
  {
    return END_EFFECTORS;
  }
 
  void onInit() override;
 
  bool isReady() const override
  {
    return hasGroups();
  }
 
  std::vector<std::string> getGroupNames() const
  {
    return srdf_config_->getGroupNames();
  }
 
  std::vector<srdf::Model::EndEffector>& getEndEffectors()
  {
    return srdf_config_->getEndEffectors();
  }
 
  std::vector<std::string> getLinkNames() const
  {
    return srdf_config_->getLinkNames();
  }
 
  bool isLinkInGroup(const std::string& link, const std::string& group) const;
  void setProperties(srdf::Model::EndEffector* eef, const std::string& parent_link, const std::string& component_group,
                     const std::string& parent_group);
 
protected:
  std::shared_ptr<URDFConfig> urdf_config_;
};
}  // namespace srdf_setup
}  // namespace moveit_setup