.. _program_listing_file_include_moveit_setup_srdf_plugins_planning_groups.hpp:

Program Listing for File planning_groups.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_srdf_plugins_planning_groups.hpp>` (``include/moveit_setup_srdf_plugins/planning_groups.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_srdf_plugins/srdf_step.hpp>
   #include <moveit_setup_srdf_plugins/group_meta_config.hpp>
   #include <moveit/robot_model/robot_model.h>
   #include <vector>
   
   namespace moveit_setup
   {
   namespace srdf_setup
   {
   class LinkNameTree
   {
   public:
     std::string data;
     std::vector<LinkNameTree> children;
   };
   
   inline LinkNameTree buildLinkNameTree(const moveit::core::LinkModel* link)
   {
     LinkNameTree node;
     node.data = link->getName();
   
     for (const auto& child_joint : link->getChildJointModels())
     {
       node.children.push_back(buildLinkNameTree(child_joint->getChildLinkModel()));
     }
     return node;
   }
   
   class PlanningGroups : public SuperSRDFStep<srdf::Model::Group>
   {
   public:
     std::string getName() const override
     {
       return "Planning Groups";
     }
   
     std::vector<srdf::Model::Group>& getContainer() override
     {
       return srdf_config_->getGroups();
     }
   
     InformationFields getInfoField() const override
     {
       return GROUPS;
     }
   
     void onInit() override;
   
     std::vector<srdf::Model::Group>& getGroups()
     {
       return srdf_config_->getGroups();
     }
   
     void renameGroup(const std::string& old_group_name, const std::string& new_group_name);
     void deleteGroup(const std::string& group_name);
   
     void setJoints(const std::string& group_name, const std::vector<std::string>& joint_names);
   
     void setLinks(const std::string& group_name, const std::vector<std::string>& link_names);
   
     void setChain(const std::string& group_name, const std::string& base, const std::string& tip);
   
     void setSubgroups(const std::string& selected_group_name, const std::vector<std::string>& subgroups);
   
     const GroupMetaData& getMetaData(const std::string& group_name) const
     {
       return group_meta_config_->getMetaData(group_name);
     }
   
     void setMetaData(const std::string& group_name, const GroupMetaData& meta_data)
     {
       group_meta_config_->setMetaData(group_name, meta_data);
     }
   
     std::vector<std::string> getGroupNames() const
     {
       return srdf_config_->getGroupNames();
     }
   
     const std::vector<std::string>& getJointNames() const
     {
       return srdf_config_->getRobotModel()->getJointModelNames();
     }
   
     const std::vector<std::string>& getLinkNames() const
     {
       return srdf_config_->getRobotModel()->getLinkModelNames();
     }
   
     std::string getChildOfJoint(const std::string& joint_name) const;
     std::string getJointType(const std::string& joint_name) const;
     LinkNameTree getLinkNameTree() const;
     std::vector<std::string> getPosesByGroup(const std::string& group_name) const;
     std::vector<std::string> getEndEffectorsByGroup(const std::string& group_name) const;
     std::vector<std::string> getKinematicPlanners() const;
     std::vector<std::string> getOMPLPlanners() const;
   
   protected:
     std::shared_ptr<GroupMetaConfig> group_meta_config_;
   };
   }  // namespace srdf_setup
   }  // namespace moveit_setup