srdf_step.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
 
namespace moveit_setup
{
namespace srdf_setup
{
class SRDFStep : public SetupStep
{
public:
  void onInit() override
  {
    srdf_config_ = config_data_->get<SRDFConfig>("srdf");
  }
 
  bool isReady() const override
  {
    return srdf_config_->isConfigured();
  }
 
  bool hasGroups() const
  {
    return !srdf_config_->getGroups().empty();
  }
 
protected:
  std::shared_ptr<SRDFConfig> srdf_config_;
};
 
template <typename T>
class SuperSRDFStep : public SRDFStep
{
public:
  virtual std::vector<T>& getContainer() = 0;
 
  virtual InformationFields getInfoField() const = 0;
 
  T* find(const std::string& name)
  {
    // Note: method is not const because otherwise we cannot return a non-const pointer
    for (T& item : getContainer())
    {
      if (item.name_ == name)
      {
        return &item;
      }
    }
    return nullptr;
  }
 
  T* create(const std::string& name)
  {
    T new_item;
    new_item.name_ = name;
    getContainer().push_back(new_item);
    srdf_config_->updateRobotModel(getInfoField());
    return &getContainer().back();
  }
 
  T* rename(const std::string& old_name, const std::string& new_name)
  {
    T* item = find(old_name);
    T* existing_item = find(new_name);
    if (existing_item)
    {
      throw std::runtime_error("An item already exists with that name!");
    }
    item->name_ = new_name;
    srdf_config_->updateRobotModel(getInfoField());
    return item;
  }
 
  bool remove(const std::string& name)
  {
    auto& container = getContainer();
    for (auto it = container.begin(); it != container.end(); ++it)
    {
      if (it->name_ == name)  // string match
      {
        container.erase(it);
        srdf_config_->updateRobotModel(getInfoField());
        return true;
      }
    }
    return false;
  }
 
  T* get(const std::string& name, const std::string& old_name = "")
  {
    if (name == old_name)
    {
      return find(name);
    }
    else if (old_name.empty())
    {
      return create(name);
    }
    else
    {
      return rename(old_name, name);
    }
  }
};
}  // namespace srdf_setup
}  // namespace moveit_setup