passive_joints.cpp

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/* Author: David V. Lu!! */
 
#include <moveit_setup_srdf_plugins/passive_joints.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
std::vector<std::string> PassiveJoints::getActiveJoints() const
{
  std::vector<std::string> active_joints;
 
  // Retrieve pointer to the shared kinematic model
  const moveit::core::RobotModelConstPtr& model = srdf_config_->getRobotModel();
 
  // Get the names of the all joints
  for (const std::string& joint : model->getJointModelNames())
  {
    if (model->getJointModel(joint)->getVariableCount() > 0)
    {
      active_joints.push_back(joint);
    }
  }
  return active_joints;
}
 
std::vector<std::string> PassiveJoints::getPassiveJoints() const
{
  std::vector<std::string> passive_joints;
  for (const srdf::Model::PassiveJoint& passive_joint : srdf_config_->getPassiveJoints())
  {
    passive_joints.push_back(passive_joint.name_);
  }
  return passive_joints;
}
 
void PassiveJoints::setPassiveJoints(const std::vector<std::string>& passive_joint_names)
{
  std::vector<srdf::Model::PassiveJoint>& passive_joints = srdf_config_->getPassiveJoints();
  passive_joints.clear();
  for (const std::string& passive_joint : passive_joint_names)
  {
    srdf::Model::PassiveJoint pj;
    pj.name_ = passive_joint;
    passive_joints.push_back(pj);
  }
  srdf_config_->updateRobotModel(PASSIVE_JOINTS);
}
 
}  // namespace srdf_setup
}  // namespace moveit_setup