.. _program_listing_file__tmp_ws_src_moveit_moveit_setup_assistant_moveit_setup_controllers_include_moveit_setup_controllers_moveit_controllers_config.hpp:

Program Listing for File moveit_controllers_config.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_moveit_moveit_setup_assistant_moveit_setup_controllers_include_moveit_setup_controllers_moveit_controllers_config.hpp>` (``/tmp/ws/src/moveit/moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/moveit_controllers_config.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: David V. Lu!! */
   
   #pragma once
   
   #include <moveit_setup_controllers/controllers_config.hpp>
   
   namespace moveit_setup
   {
   namespace controllers
   {
   static const std::string MOVEIT_CONTROLLERS_YAML = "config/moveit_controllers.yaml";
   
   class MoveItControllersConfig : public ControllersConfig
   {
   public:
     void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
   
     class GeneratedControllersConfig : public YamlGeneratedFile
     {
     public:
       GeneratedControllersConfig(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                                  MoveItControllersConfig& parent)
         : YamlGeneratedFile(package_path, last_gen_time), parent_(parent)
       {
       }
   
       bool hasChanges() const override
       {
         return parent_.changed_ || parent_.hasChangedGroups();
       }
   
       std::filesystem::path getRelativePath() const override
       {
         return MOVEIT_CONTROLLERS_YAML;
       }
   
       std::string getDescription() const override
       {
         return "Creates configurations for moveit_controllers.";
       }
   
       bool writeYaml(YAML::Emitter& emitter) override;
   
     protected:
       MoveItControllersConfig& 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<GeneratedControllersConfig>(package_path, last_gen_time, *this));
     }
   
   protected:
     bool parseController(const std::string& name, const YAML::Node& controller);
   
     std::map<std::string, YAML::Node> trajectory_parameters_;
   };
   }  // namespace controllers
   }  // namespace moveit_setup