Program Listing for File moveit_controllers_config.hpp
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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