moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_setup_assistant
moveit_setup_srdf_plugins
src
virtual_joints.cpp
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2021, PickNik Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* copyright notice, this list of conditions and the following
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*********************************************************************/
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/* Author: David V. Lu!! */
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#include <
moveit_setup_srdf_plugins/virtual_joints.hpp
>
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namespace
moveit_setup
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{
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namespace
srdf_setup
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{
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void
VirtualJoints::onInit
()
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{
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SuperSRDFStep::onInit
();
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urdf_config_
=
config_data_
->get<
URDFConfig
>(
"urdf"
);
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}
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void
VirtualJoints::setProperties
(srdf::Model::VirtualJoint* vj,
const
std::string& parent_name,
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const
std::string& child_name,
const
std::string& joint_type)
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{
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vj->parent_frame_ = parent_name;
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vj->child_link_ = child_name;
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vj->type_ = joint_type;
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srdf_config_
->updateRobotModel(
VIRTUAL_JOINTS
);
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}
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}
// namespace srdf_setup
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}
// namespace moveit_setup
moveit_setup::SetupStep::config_data_
DataWarehousePtr config_data_
Definition
setup_step.hpp:97
moveit_setup::SetupStep::onInit
virtual void onInit()
Overridable initialization method.
Definition
setup_step.hpp:71
moveit_setup::URDFConfig
Definition
urdf_config.hpp:43
moveit_setup::srdf_setup::SRDFStep::srdf_config_
std::shared_ptr< SRDFConfig > srdf_config_
Definition
srdf_step.hpp:67
moveit_setup::srdf_setup::VirtualJoints::onInit
void onInit() override
Overridable initialization method.
Definition
virtual_joints.cpp:43
moveit_setup::srdf_setup::VirtualJoints::setProperties
void setProperties(srdf::Model::VirtualJoint *vj, const std::string &parent_name, const std::string &child_name, const std::string &joint_type)
Definition
virtual_joints.cpp:49
moveit_setup::srdf_setup::VirtualJoints::urdf_config_
std::shared_ptr< URDFConfig > urdf_config_
Definition
virtual_joints.hpp:74
moveit_setup
Definition
launch_bundle.hpp:42
moveit_setup::VIRTUAL_JOINTS
@ VIRTUAL_JOINTS
Definition
srdf_config.hpp:52
virtual_joints.hpp
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