Program Listing for File modified_urdf_config.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_controllers/included_xacro_config.hpp>
#include <moveit_setup_framework/templates.hpp>
namespace moveit_setup
{
class ModifiedUrdfConfig : public SetupConfig
{
public:
void onInit() override;
bool isConfigured() const override;
void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override;
YAML::Node saveToYaml() const override;
bool hasChanges() const;
class GeneratedModifiedURDF : public TemplatedGeneratedFile
{
public:
GeneratedModifiedURDF(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
ModifiedUrdfConfig& parent)
: TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
{
}
std::filesystem::path getRelativePath() const override
{
return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".urdf.xacro");
}
std::filesystem::path getTemplatePath() const override
{
return getSharePath("moveit_setup_controllers") / "templates" / "config" / "modified.urdf.xacro";
}
std::string getDescription() const override
{
return "A modified version of the original URDF file with additional interfaces (e.g. ros2_control, simulation)";
}
bool hasChanges() const override
{
return parent_.hasChanges();
}
protected:
ModifiedUrdfConfig& parent_;
};
void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
std::vector<GeneratedFilePtr>& files) override;
void collectDependencies(std::set<std::string>& packages) const override;
void collectVariables(std::vector<TemplateVariable>& variables) override;
protected:
std::unordered_map<std::string, IncludedXacroConfig::Ptr> getIncludedXacroMap() const
{
return config_data_->getAll<IncludedXacroConfig>();
}
std::vector<IncludedXacroConfig::Ptr> getIncludedXacros() const
{
std::vector<IncludedXacroConfig::Ptr> xacros;
for (auto& pair : getIncludedXacroMap())
{
if (pair.second->isConfigured())
xacros.push_back(pair.second);
}
return xacros;
}
std::vector<std::string> getIncludedXacroNames() const
{
std::vector<std::string> names;
for (auto& pair : getIncludedXacroMap())
{
if (pair.second->isConfigured())
names.push_back(pair.first);
}
return names;
}
std::shared_ptr<URDFConfig> urdf_config_;
std::set<std::string> cached_xacro_names_;
};
} // namespace moveit_setup