moveit2
The MoveIt Motion Planning Framework for ROS 2.
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perception_config.hpp
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34
35/* Author: David V. Lu!! */
36#pragma once
37
40
41namespace moveit_setup
42{
43namespace app
44{
45using SensorParameters = std::map<std::string, std::string>;
46
48{
49public:
50 void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
51
53 static std::vector<SensorParameters> load3DSensorsYAML(const std::filesystem::path& file_path);
54
55 bool isConfigured() const override
56 {
58 }
59
63 const std::vector<SensorParameters>& getSensorPluginConfig()
64 {
66 }
67
72
73 void setConfig(const SensorParameters& parameters);
74
76 {
77 public:
78 GeneratedSensorConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
79 PerceptionConfig& parent)
80 : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
81 {
82 }
83
84 bool hasChanges() const override
85 {
86 return parent_.changed_;
87 }
88
89 std::filesystem::path getRelativePath() const override
90 {
91 return "config/sensors_3d.yaml";
92 }
93
94 std::string getDescription() const override
95 {
96 return "Configuration for perception with 3d sensors.";
97 }
98
99 bool writeYaml(YAML::Emitter& emitter) override;
100
101 protected:
103 };
104
105 void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
106 std::vector<GeneratedFilePtr>& files) override
107 {
108 files.push_back(std::make_shared<GeneratedSensorConfig>(package_path, last_gen_time, *this));
109 }
110
111protected:
113 std::vector<SensorParameters> sensors_plugin_config_parameter_list_;
114 bool changed_{ false };
115};
116} // namespace app
117} // namespace moveit_setup
where all the data for each part of the configuration is stored.
Definition config.hpp:58
std::string getDescription() const override
Returns an English description of this file's purpose.
GeneratedSensorConfig(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, PerceptionConfig &parent)
bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
void setConfig(const SensorParameters &parameters)
void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector< GeneratedFilePtr > &files) override
Collect the files generated by this configuration and add them to the vector.
bool isConfigured() const override
Return true if this part of the configuration is completely set up.
static std::vector< SensorParameters > load3DSensorsYAML(const std::filesystem::path &file_path)
Load perception sensor config.
const std::vector< SensorParameters > & getSensorPluginConfig()
Used for adding a sensor plugin configuration parameter to the sensor plugin configuration parameter ...
std::vector< SensorParameters > sensors_plugin_config_parameter_list_
Sensor plugin configuration parameter list, each sensor plugin type is a map of string pairs.
void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override
Loads the configuration from an existing MoveIt configuration.
void clearSensorPluginConfig()
Clear the sensor plugin configuration parameter list.
std::map< std::string, std::string > SensorParameters
std::filesystem::file_time_type GeneratedTime