Program Listing for File controllers.hpp
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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