moveit2
The MoveIt Motion Planning Framework for ROS 2.
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launches_config.cpp
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34
35/* Author: David V. Lu!! */
36
38
39namespace moveit_setup
40{
41namespace app
42{
44{
45 return bundles_.count(bundle);
46}
47
49{
50 bundles_.insert(bundle);
51}
52
54{
55 bundles_.erase(bundle);
56}
57
58void LaunchesConfig::collectDependencies(std::set<std::string>& packages) const
59{
60 packages.insert("moveit_configs_utils");
61 for (const LaunchBundle& bundle : bundles_)
62 {
63 for (const std::string& dependency : bundle.getDependencies())
64 {
65 packages.insert(dependency);
66 }
67 }
68}
69
70void LaunchesConfig::collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
71 std::vector<GeneratedFilePtr>& files)
72{
73 for (const LaunchBundle& bundle : bundles_)
74 {
75 bundle.collectFiles(package_path, last_gen_time, files);
76 }
77}
78} // namespace app
79} // namespace moveit_setup
80
81#include <pluginlib/class_list_macros.hpp> // NOLINT
PLUGINLIB_EXPORT_CLASS(cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< kdl_kinematics_plugin::KDLKinematicsPlugin >, kinematics::KinematicsBase)
where all the data for each part of the configuration is stored.
Definition config.hpp:58
One launch file and any other bonus files that get bundled with it, i.e. the RViz launch file and its...
Stores which LaunchBundles are configured to be generated.
bool isIncluded(const LaunchBundle &bundle) const
void include(const LaunchBundle &bundle)
Add the given launch bundle to the set.
void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
Provide the files to be generated.
std::set< LaunchBundle > bundles_
void collectDependencies(std::set< std::string > &packages) const override
Add the dependencies from the launch bundles to the moveit config's dependencies.
void remove(const LaunchBundle &bundle)
Remove the given launch bundle from the set.
std::filesystem::file_time_type GeneratedTime