perception.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_app_plugins/perception_config.hpp>
 
namespace moveit_setup
{
namespace app
{
class Perception : public SetupStep
{
public:
  std::string getName() const override
  {
    return "Perception";
  }
 
  void onInit() override;
 
  bool isReady() const override
  {
    return true;  // no dependencies
  }
 
  const std::vector<SensorParameters>& getSensorPluginConfig()
  {
    return perception_config_->getSensorPluginConfig();
  }

  void clearSensorPluginConfig()
  {
    perception_config_->clearSensorPluginConfig();
  }
 
  void setConfig(const SensorParameters& parameters)
  {
    perception_config_->setConfig(parameters);
  }
 
protected:
  std::shared_ptr<PerceptionConfig> perception_config_;
};
}  // namespace app
}  // namespace moveit_setup