Program Listing for File perception_config.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_framework/config.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
namespace moveit_setup
{
namespace app
{
using SensorParameters = std::map<std::string, std::string>;
class PerceptionConfig : public SetupConfig
{
public:
void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
static std::vector<SensorParameters> load3DSensorsYAML(const std::filesystem::path& file_path);
bool isConfigured() const override
{
return !sensors_plugin_config_parameter_list_.empty();
}
const std::vector<SensorParameters>& getSensorPluginConfig()
{
return sensors_plugin_config_parameter_list_;
}
void clearSensorPluginConfig();
void setConfig(const SensorParameters& parameters);
class GeneratedSensorConfig final : public YamlGeneratedFile
{
public:
GeneratedSensorConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
PerceptionConfig& parent)
: YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
{
}
bool hasChanges() const override
{
return parent_.changed_;
}
std::filesystem::path getRelativePath() const override
{
return "config/sensors_3d.yaml";
}
std::string getDescription() const override
{
return "Configuration for perception with 3d sensors.";
}
bool writeYaml(YAML::Emitter& emitter) override;
protected:
PerceptionConfig& parent_;
};
void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
std::vector<GeneratedFilePtr>& files) override
{
files.push_back(std::make_shared<GeneratedSensorConfig>(package_path, last_gen_time, *this));
}
protected:
std::vector<SensorParameters> sensors_plugin_config_parameter_list_;
bool changed_{ false };
};
} // namespace app
} // namespace moveit_setup