group_meta_config.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/config.hpp>
#include <map>
#include <string>
 
namespace moveit_setup
{
namespace srdf_setup
{
// Default kin solver values
static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005;
static const double DEFAULT_KIN_SOLVER_TIMEOUT = 0.005;
 
struct GroupMetaData
{
  std::string kinematics_solver_;  // Name of kinematics plugin to use
  double kinematics_solver_search_resolution_{ DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION };  // resolution to use with solver
  double kinematics_solver_timeout_{ DEFAULT_KIN_SOLVER_TIMEOUT };                      // solver timeout
  std::string kinematics_parameters_file_;  // file for additional kinematics parameters
  std::string default_planner_;             // Name of the default planner to use
};
 
static const std::string KINEMATICS_FILE = "config/kinematics.yaml";
 
class GroupMetaConfig : public SetupConfig
{
public:
  bool isConfigured() const override;
  void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
 
  void deleteGroup(const std::string& group_name);
  void renameGroup(const std::string& old_group_name, const std::string& new_group_name);
 
  const GroupMetaData& getMetaData(const std::string& group_name) const;
  void setMetaData(const std::string& group_name, const GroupMetaData& meta_data);
 
  class GeneratedGroupMetaConfig : public YamlGeneratedFile
  {
  public:
    GeneratedGroupMetaConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                             GroupMetaConfig& parent)
      : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
    {
    }
 
    std::filesystem::path getRelativePath() const override
    {
      return KINEMATICS_FILE;
    }
 
    std::string getDescription() const override
    {
      return "Specifies which kinematic solver plugin to use for each planning group in the SRDF, as well as "
             "the kinematic solver search resolution.";
    }
 
    bool hasChanges() const override
    {
      return parent_.changed_;
    }
 
    bool writeYaml(YAML::Emitter& emitter) override;
 
  protected:
    GroupMetaConfig& parent_;
  };
 
  void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                    std::vector<GeneratedFilePtr>& files) override
  {
    files.push_back(std::make_shared<GeneratedGroupMetaConfig>(package_path, last_gen_time, *this));
  }
 
  void collectVariables(std::vector<TemplateVariable>& variables) override;
 
protected:
  // Helper method with old name that conveniently returns a bool
  bool inputKinematicsYAML(const std::filesystem::path& file_path);
 
  std::map<std::string, GroupMetaData> group_meta_data_;
 
  GroupMetaData default_values_;
 
  bool changed_{ false };
};
}  // namespace srdf_setup
}  // namespace moveit_setup