moveit2
The MoveIt Motion Planning Framework for ROS 2.
robotconfiguration.cpp
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34 
36 
37 #include <stdexcept>
38 
40 {
42 {
43 }
44 
45 RobotConfiguration::RobotConfiguration(const std::string& group_name)
46  : RobotStateMsgConvertible(), GoalConstraintMsgConvertible(), group_name_(group_name)
47 {
48 }
49 
50 RobotConfiguration::RobotConfiguration(const std::string& group_name,
51  const moveit::core::RobotModelConstPtr& robot_model)
52  : RobotStateMsgConvertible(), GoalConstraintMsgConvertible(), group_name_(group_name), robot_model_(robot_model)
53 {
54  if (robot_model && (!robot_model_->hasJointModelGroup(group_name_)))
55  {
56  std::string msg{ "Specified robot model does not contain specified group \"" };
57  msg.append(group_name).append("\"");
58  throw std::invalid_argument(msg);
59  }
60 }
61 
62 } // namespace pilz_industrial_motion_planner_testutils
Interface class to express that a derived class can be converted into a moveit_msgs::msg::Constraints...
Interface class to express that a derived class can be converted into a moveit_msgs::msg::RobotState.