Program Listing for File robot_poses.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_msgs/msg/display_robot_state.hpp>
namespace moveit_setup
{
namespace srdf_setup
{
// Note: Does not derive from SuperSRDFStep because we always need to check the name AND the group name for each pose
class RobotPoses : public SRDFStep
{
public:
std::string getName() const override
{
return "Robot Poses";
}
void onInit() override;
bool isReady() const override
{
return hasGroups();
}
std::vector<std::string> getGroupNames() const
{
return srdf_config_->getGroupNames();
}
srdf::Model::GroupState* findPoseByName(const std::string& name, const std::string& group);
std::vector<srdf::Model::GroupState>& getGroupStates()
{
return srdf_config_->getGroupStates();
}
moveit::core::RobotState& getState()
{
return srdf_config_->getPlanningScene()->getCurrentStateNonConst();
}
void publishState(const moveit::core::RobotState& robot_state);
bool checkSelfCollision(const moveit::core::RobotState& robot_state);
std::vector<const moveit::core::JointModel*> getSimpleJointModels(const std::string& group_name) const;
void removePoseByName(const std::string& pose_name, const std::string& group_name)
{
srdf_config_->removePoseByName(pose_name, group_name);
}
void setToCurrentValues(srdf::Model::GroupState& group_state);
void loadAllowedCollisionMatrix();
protected:
rclcpp::Publisher<moveit_msgs::msg::DisplayRobotState>::SharedPtr pub_robot_state_;
// ******************************************************************************************
// Collision Variables
// ******************************************************************************************
collision_detection::CollisionRequest request_;
collision_detection::AllowedCollisionMatrix allowed_collision_matrix_;
};
} // namespace srdf_setup
} // namespace moveit_setup