Namespaces
namespace	app

namespace	assistant

namespace	controllers

namespace	core

namespace	simulation

namespace	srdf_setup

Classes
class	DataWarehouse
	Container for all of the `SetupConfig` object singletons. More...

class	DoubleListWidget

class	GeneratedFile
	Container for the logic for a single file to appear in MoveIt configuration package. More...

class	HeaderWidget

class	IncludedXacroConfig
	A virtual class that represents a xacro header that should be included in the modified urdf configuration. More...

struct	JointModelCompare
	Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order. More...

class	LoadPathArgsWidget
	Extend LoadPathWidget with additional line edit for arguments. More...

class	LoadPathWidget

class	ModifiedUrdfConfig
	A configuration that stores info about modifications to the URDF. More...

class	MoveItSetupTest
	Test environment with DataWarehouse setup and help for generating files in a temp dir. More...

class	PackageSettingsConfig

class	RVizPanel

class	SetupConfig
	where all the data for each part of the configuration is stored. More...

class	SetupStep
	Contains all of the non-GUI code necessary for doing one "screen" worth of setup. More...

class	SetupStepWidget
	The GUI code for one SetupStep. More...

class	SRDFConfig

class	TemplatedGeneratedFile
	Specialization of GeneratedFile for generating a text file from a template. More...

struct	TemplateVariable
	Simple Key/value pair for templates. More...

class	URDFConfig

struct	XMLAttribute
	Simple structure for easy xml creation. More...

class	XmlSyntaxHighlighter

class	YamlGeneratedFile

Typedefs
using	GeneratedTime = std::filesystem::file_time_type

Enumerations
enum	InformationFields { NONE = 0 , COLLISIONS = 1 << 1 , VIRTUAL_JOINTS = 1 << 2 , GROUPS = 1 << 3 , GROUP_CONTENTS = 1 << 4 , POSES = 1 << 5 , END_EFFECTORS = 1 << 6 , PASSIVE_JOINTS = 1 << 7 , OTHER = 1 << 8 }

enum class	FileStatus { NEW , UNCHANGED , CHANGED , EXTERNALLY_MODIFIED , CONFLICTED }
	Status associated with each GeneratedFile. More...

Functions
	MOVEIT_CLASS_FORWARD (SetupConfig)

	MOVEIT_CLASS_FORWARD (DataWarehouse)

	MOVEIT_CLASS_FORWARD (GeneratedFile)

template<typename CLOCK >
GeneratedTime	convertTime (const typename CLOCK::time_point &t0)
	Convert a time_point from an arbitrary clock to GeneratedTime.

template<typename CLOCK >
CLOCK::time_point	convertTime (const GeneratedTime &t0)
	Convert GeneratedTime to a time_point from an arbitrary clock.

template<typename CLOCK >
GeneratedTime	convertTime (long int epoch)
	Convert an integral epoch from an arbitrary clock to GeneratedTime.

GeneratedTime	fromEpoch (long int epoch)
	Convert an integral epoch to GeneratedTime (using system_clock)

template<typename CLOCK >
std::time_t	toStandardTime (const GeneratedTime &t)
	Convert a GeneratedTime to a std::time_t (using system_clock)

long int	toEpoch (const GeneratedTime &t)
	Convert a GeneratedTime to an integral epoch (using system_clock)

std::string	toString (const GeneratedTime &t)
	Convert a GeneratedTime to a std::string (using system_clock)

std::set< std::string >	getKeys (const YAML::Node &node)

void	expectYamlEquivalence (const YAML::Node &generated, const YAML::Node &reference, const std::filesystem::path &generated_path, const std::string &yaml_namespace="")

void	expectYamlEquivalence (const std::filesystem::path &generated_path, const std::filesystem::path &reference_path)

std::filesystem::path	getSharePath (const std::string &package_name)
	Return a path for the given package's share folder.

bool	createFolders (const std::filesystem::path &output_path)
	Create folders (recursively)

bool	createParentFolders (const std::filesystem::path &file_path)
	Create parent folders (recursively)

bool	extractPackageNameFromPath (const std::filesystem::path &path, std::string &package_name, std::filesystem::path &relative_filepath)

tinyxml2::XMLElement *	uniqueInsert (tinyxml2::XMLDocument &doc, tinyxml2::XMLElement &element, const char tag, const std::vector< XMLAttribute > &attributes={}, const char text=nullptr)
	Insert a new XML element with a given tag, attributes, and text.

template<typename T >
bool	getYamlProperty (const YAML::Node &node, const std::string &key, T &storage, const T &default_value=T())

bool	getYamlProperty (const YAML::Node &node, const std::string &key, std::filesystem::path &storage, const std::string &default_value="")

const std::unordered_map< std::string, std::string >	BACKWARDS_KEY_LOOKUP ({ { "urdf", "URDF" }, { "srdf", "SRDF" }, { "package_settings", "CONFIG" } })

const std::regex	MAIL_REGEX ("\\b[A-Z0-9._%+-]+@[A-Z0-9.-]+\\.[A-Z]{2,63}\\b", std::regex::icase)

bool	hasRequiredAttributes (const tinyxml2::XMLElement &e, const std::vector< XMLAttribute > &attributes)

Typedef Documentation

◆ GeneratedTime

using moveit_setup::GeneratedTime = typedef std::filesystem::file_time_type

This file contains a bunch of conversions for converting std::filesystem::file_time_type (a.k.a. the return type from std::filesystem::last_write_time) to other useful types and back

Definition at line 49 of file generated_time.hpp.

Enumeration Type Documentation

◆ FileStatus

enum class moveit_setup::FileStatus

strong

Status associated with each GeneratedFile.

Enumerator
NEW
UNCHANGED
CHANGED
EXTERNALLY_MODIFIED
CONFLICTED

Definition at line 52 of file generated_file.hpp.

◆ InformationFields

enum moveit_setup::InformationFields

Enumerator
NONE
COLLISIONS
VIRTUAL_JOINTS
GROUPS
GROUP_CONTENTS
POSES
END_EFFECTORS
PASSIVE_JOINTS
OTHER

Definition at line 48 of file srdf_config.hpp.

Function Documentation

◆ BACKWARDS_KEY_LOOKUP()

const std::unordered_map< std::string, std::string > moveit_setup::BACKWARDS_KEY_LOOKUP ( { { "urdf", "URDF" }, { "srdf", "SRDF" }, { "package_settings", "CONFIG" } } )

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◆ convertTime() [1/3]

template<typename CLOCK >

CLOCK::time_point moveit_setup::convertTime ( const GeneratedTime & t0 )

inline

Convert GeneratedTime to a time_point from an arbitrary clock.

Definition at line 64 of file generated_time.hpp.

◆ convertTime() [2/3]

template<typename CLOCK >

GeneratedTime moveit_setup::convertTime ( const typename CLOCK::time_point & t0 )

inline

Convert a time_point from an arbitrary clock to GeneratedTime.

Definition at line 55 of file generated_time.hpp.

◆ convertTime() [3/3]

template<typename CLOCK >

GeneratedTime moveit_setup::convertTime ( long int epoch )

inline

Convert an integral epoch from an arbitrary clock to GeneratedTime.

Definition at line 73 of file generated_time.hpp.

◆ createFolders()

bool moveit_setup::createFolders ( const std::filesystem::path & output_path )

inline

Create folders (recursively)

Returns: false if the path was not a directory and was unable to create the directory(s)

Definition at line 67 of file utilities.hpp.

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◆ createParentFolders()

bool moveit_setup::createParentFolders ( const std::filesystem::path & file_path )

inline

Create parent folders (recursively)

Returns: false if the path was not a directory and was unable to create the directory(s)

Definition at line 76 of file utilities.hpp.

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◆ expectYamlEquivalence() [1/2]

void moveit_setup::expectYamlEquivalence	(	const std::filesystem::path &	generated_path,
		const std::filesystem::path &	reference_path
	)

Definition at line 171 of file testing_utils.hpp.

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◆ expectYamlEquivalence() [2/2]

void moveit_setup::expectYamlEquivalence	(	const YAML::Node &	generated,
		const YAML::Node &	reference,
		const std::filesystem::path &	generated_path,
		const std::string &	yaml_namespace = `""`
	)

Definition at line 114 of file testing_utils.hpp.

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◆ extractPackageNameFromPath()

bool moveit_setup::extractPackageNameFromPath	(	const std::filesystem::path &	path,
		std::string &	package_name,
		std::filesystem::path &	relative_filepath
	)

determine the package name containing a given file path

Parameters

path	to a file
package_name	holds the ros package name if found
relative_filepath	holds the relative path of the file to the package root

Returns: whether the file belongs to a known package

Definition at line 41 of file utilities.cpp.

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◆ fromEpoch()

GeneratedTime moveit_setup::fromEpoch ( long int epoch )

inline

Convert an integral epoch to GeneratedTime (using system_clock)

Definition at line 82 of file generated_time.hpp.

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◆ getKeys()

std::set< std::string > moveit_setup::getKeys ( const YAML::Node & node )

Definition at line 104 of file testing_utils.hpp.

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◆ getSharePath()

std::filesystem::path moveit_setup::getSharePath ( const std::string & package_name )

inline

Return a path for the given package's share folder.

Definition at line 51 of file utilities.hpp.

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◆ getYamlProperty() [1/2]

bool moveit_setup::getYamlProperty	(	const YAML::Node &	node,
		const std::string &	key,
		std::filesystem::path &	storage,
		const std::string &	default_value = `""`
	)

inline

Definition at line 126 of file utilities.hpp.

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◆ getYamlProperty() [2/2]

template<typename T >

bool moveit_setup::getYamlProperty	(	const YAML::Node &	node,
		const std::string &	key,
		T &	storage,
		const T &	default_value = `T()`
	)

inline

Definition at line 118 of file utilities.hpp.

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◆ hasRequiredAttributes()

bool moveit_setup::hasRequiredAttributes	(	const tinyxml2::XMLElement &	e,
		const std::vector< XMLAttribute > &	attributes
	)

Definition at line 86 of file utilities.cpp.

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◆ MAIL_REGEX()

const std::regex moveit_setup::MAIL_REGEX	(	"\\b+@+\\.{2,63}\\b"	[A-Z0-9._%+-][A-Z0-9.-][A-Z],
		std::regex::icase
	)

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◆ MOVEIT_CLASS_FORWARD() [1/3]

moveit_setup::MOVEIT_CLASS_FORWARD ( DataWarehouse )

◆ MOVEIT_CLASS_FORWARD() [2/3]

moveit_setup::MOVEIT_CLASS_FORWARD ( GeneratedFile )

◆ MOVEIT_CLASS_FORWARD() [3/3]

moveit_setup::MOVEIT_CLASS_FORWARD ( SetupConfig )

◆ toEpoch()

long int moveit_setup::toEpoch ( const GeneratedTime & t )

inline

Convert a GeneratedTime to an integral epoch (using system_clock)

Definition at line 99 of file generated_time.hpp.

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◆ toStandardTime()

template<typename CLOCK >

std::time_t moveit_setup::toStandardTime ( const GeneratedTime & t )

inline

Convert a GeneratedTime to a std::time_t (using system_clock)

Definition at line 91 of file generated_time.hpp.

◆ toString()

std::string moveit_setup::toString ( const GeneratedTime & t )

inline

Convert a GeneratedTime to a std::string (using system_clock)

Definition at line 107 of file generated_time.hpp.

◆ uniqueInsert()

tinyxml2::XMLElement * moveit_setup::uniqueInsert	(	tinyxml2::XMLDocument &	doc,
		tinyxml2::XMLElement &	element,
		const char *	tag,
		const std::vector< XMLAttribute > &	attributes = `{}`,
		const char *	text = `nullptr`
	)

Insert a new XML element with a given tag, attributes, and text.

If a corresponding element already exists (and has required attribute values), it is just reused.

Parameters

doc	The XMLDocument, used for creating new elements
element	The tag inside of which the new tag should be inserted
tag	The name of the tag
attributes	Attribute name/value pairs to be created/overwritten
text	If not null, text value to insert inside the new tag

Returns: The new or existing element

Definition at line 105 of file utilities.cpp.

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Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ GeneratedTime

Enumeration Type Documentation

◆ FileStatus

◆ InformationFields

Function Documentation

◆ BACKWARDS_KEY_LOOKUP()

◆ convertTime() [1/3]

◆ convertTime() [2/3]

◆ convertTime() [3/3]

◆ createFolders()

◆ createParentFolders()

◆ expectYamlEquivalence() [1/2]

◆ expectYamlEquivalence() [2/2]

◆ extractPackageNameFromPath()

◆ fromEpoch()

◆ getKeys()

◆ getSharePath()

◆ getYamlProperty() [1/2]

◆ getYamlProperty() [2/2]

◆ hasRequiredAttributes()

◆ MAIL_REGEX()

◆ MOVEIT_CLASS_FORWARD() [1/3]

◆ MOVEIT_CLASS_FORWARD() [2/3]

◆ MOVEIT_CLASS_FORWARD() [3/3]

◆ toEpoch()

◆ toStandardTime()

◆ toString()

◆ uniqueInsert()