.. _program_listing_file_include_moveit_setup_controllers_controllers.hpp:

Program Listing for File controllers.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_controllers_controllers.hpp>` (``include/moveit_setup_controllers/controllers.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_framework/setup_step.hpp>
   #include <moveit_setup_framework/data/srdf_config.hpp>
   #include <moveit_setup_controllers/controllers_config.hpp>
   
   namespace moveit_setup
   {
   namespace controllers
   {
   class AdditionalControllerField
   {
   public:
     AdditionalControllerField(const std::string& display_name, const std::string& parameter_name)
       : display_name_(display_name), parameter_name_(parameter_name)
     {
     }
   
     AdditionalControllerField() = default;
     AdditionalControllerField(const AdditionalControllerField&) = default;
     AdditionalControllerField(AdditionalControllerField&&) = default;
     AdditionalControllerField& operator=(const AdditionalControllerField&) = default;
     AdditionalControllerField& operator=(AdditionalControllerField&&) = default;
     virtual ~AdditionalControllerField() = default;
   
     virtual std::string getDefaultValue(const std::string& /*controller_type*/) const
     {
       return "";
     }
   
     std::string display_name_;
     std::string parameter_name_;
   };
   
   using FieldPointers = std::vector<std::shared_ptr<AdditionalControllerField>>;
   
   class Controllers : public SetupStep
   {
   public:
     virtual std::string getInstructions() const = 0;
   
     virtual std::string getButtonText() const = 0;
   
     virtual std::vector<std::string> getAvailableTypes() const = 0;
   
     virtual std::string getDefaultType() const = 0;
   
     virtual FieldPointers getAdditionalControllerFields() const
     {
       return FieldPointers();
     }
   
     bool isReady() const override
     {
       return !srdf_config_->getGroups().empty();
     }
   
     const std::vector<std::string>& getJointNames() const
     {
       return srdf_config_->getRobotModel()->getJointModelNames();
     }
   
     std::vector<std::string> getGroupNames() const
     {
       return srdf_config_->getGroupNames();
     }
   
     std::string getChildOfJoint(const std::string& joint_name) const
     {
       return srdf_config_->getChildOfJoint(joint_name);
     }
   
     std::vector<ControllerInfo>& getControllers() const
     {
       return controllers_config_->getControllers();
     }
   
     bool addController(const ControllerInfo& new_controller)
     {
       return controllers_config_->addController(new_controller);
     }
   
     ControllerInfo* findControllerByName(const std::string& controller_name)
     {
       return controllers_config_->findControllerByName(controller_name);
     }
   
     bool deleteController(const std::string& controller_name)
     {
       return controllers_config_->deleteController(controller_name);
     }
   
     bool addDefaultControllers();
   
     std::vector<std::string> getJointsFromGroups(const std::vector<std::string>& group_names) const;
   
   protected:
     std::shared_ptr<SRDFConfig> srdf_config_;
     std::shared_ptr<ControllersConfig> controllers_config_;
   };
   }  // namespace controllers
   }  // namespace moveit_setup