Program Listing for File planning_groups.hpp
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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