The MoveIt Motion Planning Framework for ROS 2.
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utilities.hpp File Reference
#include <ament_index_cpp/get_package_prefix.hpp>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <filesystem>
#include <string>
#include <tinyxml2.h>
#include <yaml-cpp/yaml.h>
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struct  moveit_setup::XMLAttribute
 Simple structure for easy xml creation. More...




std::filesystem::path moveit_setup::getSharePath (const std::string &package_name)
 Return a path for the given package's share folder. More...
bool moveit_setup::createFolders (const std::filesystem::path &output_path)
 Create folders (recursively) More...
bool moveit_setup::createParentFolders (const std::filesystem::path &file_path)
 Create parent folders (recursively) More...
bool moveit_setup::extractPackageNameFromPath (const std::filesystem::path &path, std::string &package_name, std::filesystem::path &relative_filepath)
tinyxml2::XMLElement * moveit_setup::uniqueInsert (tinyxml2::XMLDocument &doc, tinyxml2::XMLElement &element, const char *tag, const std::vector< XMLAttribute > &attributes={}, const char *text=nullptr)
 Insert a new XML element with a given tag, attributes, and text. More...
template<typename T >
bool moveit_setup::getYamlProperty (const YAML::Node &node, const std::string &key, T &storage, const T &default_value=T())
bool moveit_setup::getYamlProperty (const YAML::Node &node, const std::string &key, std::filesystem::path &storage, const std::string &default_value="")