Class ModifiedUrdfConfig

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public moveit_setup::SetupConfig

Class Documentation

class ModifiedUrdfConfig : public moveit_setup::SetupConfig

A configuration that stores info about modifications to the URDF.

The modifications are primarily made in an included xacro file (which can be configured dynamically)

Public Functions

virtual void onInit() override
virtual bool isConfigured() const override
virtual void loadPrevious(const std::filesystem::path&, const YAML::Node &node) override
virtual YAML::Node saveToYaml() const override
bool hasChanges() const

Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated.

virtual void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector<GeneratedFilePtr> &files) override
virtual void collectDependencies(std::set<std::string> &packages) const override
virtual void collectVariables(std::vector<TemplateVariable> &variables) override

Protected Functions

inline std::unordered_map<std::string, IncludedXacroConfig::Ptr> getIncludedXacroMap() const
inline std::vector<IncludedXacroConfig::Ptr> getIncludedXacros() const
inline std::vector<std::string> getIncludedXacroNames() const

Protected Attributes

std::shared_ptr<URDFConfig> urdf_config_
std::set<std::string> cached_xacro_names_
class GeneratedModifiedURDF : public moveit_setup::TemplatedGeneratedFile

Public Functions

inline GeneratedModifiedURDF(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, ModifiedUrdfConfig &parent)
inline virtual std::filesystem::path getRelativePath() const override
inline virtual std::filesystem::path getTemplatePath() const override
inline virtual std::string getDescription() const override
inline virtual bool hasChanges() const override

Protected Attributes

ModifiedUrdfConfig &parent_