moveit2
The MoveIt Motion Planning Framework for ROS 2.
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group_meta_config.hpp
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34
35/* Author: David V. Lu!! */
36#pragma once
37
39#include <map>
40#include <string>
41
42namespace moveit_setup
43{
44namespace srdf_setup
45{
46// Default kin solver values
47static const double DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION = 0.005;
48static const double DEFAULT_KIN_SOLVER_TIMEOUT = 0.005;
49
54{
55 std::string kinematics_solver_; // Name of kinematics plugin to use
56 double kinematics_solver_search_resolution_{ DEFAULT_KIN_SOLVER_SEARCH_RESOLUTION }; // resolution to use with solver
57 double kinematics_solver_timeout_{ DEFAULT_KIN_SOLVER_TIMEOUT }; // solver timeout
58 std::string kinematics_parameters_file_; // file for additional kinematics parameters
59 std::string default_planner_; // Name of the default planner to use
60};
61
62static const std::string KINEMATICS_FILE = "config/kinematics.yaml";
63
65{
66public:
67 bool isConfigured() const override;
68 void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
69
70 void deleteGroup(const std::string& group_name);
71 void renameGroup(const std::string& old_group_name, const std::string& new_group_name);
72
73 const GroupMetaData& getMetaData(const std::string& group_name) const;
74 void setMetaData(const std::string& group_name, const GroupMetaData& meta_data);
75
77 {
78 public:
79 GeneratedGroupMetaConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
80 GroupMetaConfig& parent)
81 : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
82 {
83 }
84
85 std::filesystem::path getRelativePath() const override
86 {
87 return KINEMATICS_FILE;
88 }
89
90 std::string getDescription() const override
91 {
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.";
94 }
95
96 bool hasChanges() const override
97 {
98 return parent_.changed_;
99 }
100
101 bool writeYaml(YAML::Emitter& emitter) override;
102
103 protected:
105 };
106
107 void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
108 std::vector<GeneratedFilePtr>& files) override
109 {
110 files.push_back(std::make_shared<GeneratedGroupMetaConfig>(package_path, last_gen_time, *this));
111 }
112
113 void collectVariables(std::vector<TemplateVariable>& variables) override;
114
115protected:
116 // Helper method with old name that conveniently returns a bool
117 bool inputKinematicsYAML(const std::filesystem::path& file_path);
118
120 std::map<std::string, GroupMetaData> group_meta_data_;
121
123
124 bool changed_{ false };
125};
126} // namespace srdf_setup
127} // namespace moveit_setup
where all the data for each part of the configuration is stored.
Definition config.hpp:58
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
std::string getDescription() const override
Returns an English description of this file's purpose.
GeneratedGroupMetaConfig(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, GroupMetaConfig &parent)
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
void setMetaData(const std::string &group_name, const GroupMetaData &meta_data)
bool inputKinematicsYAML(const std::filesystem::path &file_path)
const GroupMetaData & getMetaData(const std::string &group_name) const
std::map< std::string, GroupMetaData > group_meta_data_
Planning groups extra data not found in srdf but used in config files.
void collectVariables(std::vector< TemplateVariable > &variables) override
Collect key/value pairs for use in templates.
void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override
Loads the configuration from an existing MoveIt configuration.
void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
Collect the files generated by this configuration and add them to the vector.
void renameGroup(const std::string &old_group_name, const std::string &new_group_name)
bool isConfigured() const override
Return true if this part of the configuration is completely set up.
void deleteGroup(const std::string &group_name)
std::filesystem::file_time_type GeneratedTime