jointconfiguration.hpp

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#pragma once
 
#include <string>
#include <utility>
#include <vector>
#include <functional>
#include <stdexcept>
 
#include <sensor_msgs/msg/joint_state.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/robot_state/conversions.hpp>
 
#include "robotconfiguration.hpp"
 
namespace pilz_industrial_motion_planner_testutils
{
class JointConfigurationException : public std::runtime_error
{
public:
  JointConfigurationException(const std::string& error_desc) : std::runtime_error(error_desc)
  {
  }
};
 
using CreateJointNameFunc = std::function<std::string(const size_t&)>;
 
class JointConfiguration : public RobotConfiguration
{
public:
  JointConfiguration();
 
  JointConfiguration(const std::string& group_name, const std::vector<double>& config,
                     CreateJointNameFunc&& create_joint_name_func);
 
  JointConfiguration(const std::string& group_name, const std::vector<double>& config,
                     const moveit::core::RobotModelConstPtr& robot_model);
 
public:
  void setJoint(const size_t index, const double value);
  double getJoint(const size_t index) const;
  const std::vector<double> getJoints() const;
 
  size_t size() const;
 
  moveit_msgs::msg::Constraints toGoalConstraints() const override;
  moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override;
 
  sensor_msgs::msg::JointState toSensorMsg() const;
 
  moveit::core::RobotState toRobotState() const;
 
  void setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func);
 
private:
  moveit_msgs::msg::RobotState toMoveitMsgsRobotStateWithoutModel() const;
  moveit_msgs::msg::RobotState toMoveitMsgsRobotStateWithModel() const;
 
  moveit_msgs::msg::Constraints toGoalConstraintsWithoutModel() const;
  moveit_msgs::msg::Constraints toGoalConstraintsWithModel() const;
 
private:
  std::vector<double> joints_;
 
  CreateJointNameFunc create_joint_name_func_;
};
 
std::ostream& operator<<(std::ostream& /*os*/, const JointConfiguration& /*obj*/);
 
inline moveit_msgs::msg::Constraints JointConfiguration::toGoalConstraints() const
{
  return robot_model_ ? toGoalConstraintsWithModel() : toGoalConstraintsWithoutModel();
}
 
inline moveit_msgs::msg::RobotState JointConfiguration::toMoveitMsgsRobotState() const
{
  return robot_model_ ? toMoveitMsgsRobotStateWithModel() : toMoveitMsgsRobotStateWithoutModel();
}
 
inline void JointConfiguration::setJoint(const size_t index, const double value)
{
  joints_.at(index) = value;
}
 
inline double JointConfiguration::getJoint(const size_t index) const
{
  return joints_.at(index);
}
 
inline const std::vector<double> JointConfiguration::getJoints() const
{
  return joints_;
}
 
inline size_t JointConfiguration::size() const
{
  return joints_.size();
}
 
inline void JointConfiguration::setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func)
{
  create_joint_name_func_ = std::move(create_joint_name_func);
}
}  // namespace pilz_industrial_motion_planner_testutils