47static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005;
48static const double DEFAULT_KIN_SOLVER_TIMEOUT = 0.005;
62static const std::string KINEMATICS_FILE =
"config/kinematics.yaml";
68 void loadPrevious(
const std::filesystem::path& package_path,
const YAML::Node& node)
override;
71 void renameGroup(
const std::string& old_group_name,
const std::string& new_group_name);
87 return KINEMATICS_FILE;
92 return "Specifies which kinematic solver plugin to use for each planning group in the SRDF, as well as "
93 "the kinematic solver search resolution.";
101 bool writeYaml(YAML::Emitter& emitter)
override;
108 std::vector<GeneratedFilePtr>& files)
override
110 files.push_back(std::make_shared<GeneratedGroupMetaConfig>(package_path, last_gen_time, *
this));
where all the data for each part of the configuration is stored.
std::filesystem::file_time_type GeneratedTime