Program Listing for File srdf_step.hpp
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/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
namespace moveit_setup
{
namespace srdf_setup
{
class SRDFStep : public SetupStep
{
public:
void onInit() override
{
srdf_config_ = config_data_->get<SRDFConfig>("srdf");
}
bool isReady() const override
{
return srdf_config_->isConfigured();
}
bool hasGroups() const
{
return !srdf_config_->getGroups().empty();
}
protected:
std::shared_ptr<SRDFConfig> srdf_config_;
};
template <typename T>
class SuperSRDFStep : public SRDFStep
{
public:
virtual std::vector<T>& getContainer() = 0;
virtual InformationFields getInfoField() const = 0;
T* find(const std::string& name)
{
// Note: method is not const because otherwise we cannot return a non-const pointer
for (T& item : getContainer())
{
if (item.name_ == name)
{
return &item;
}
}
return nullptr;
}
T* create(const std::string& name)
{
T new_item;
new_item.name_ = name;
getContainer().push_back(new_item);
srdf_config_->updateRobotModel(getInfoField());
return &getContainer().back();
}
T* rename(const std::string& old_name, const std::string& new_name)
{
T* item = find(old_name);
T* existing_item = find(new_name);
if (existing_item)
{
throw std::runtime_error("An item already exists with that name!");
}
item->name_ = new_name;
srdf_config_->updateRobotModel(getInfoField());
return item;
}
bool remove(const std::string& name)
{
auto& container = getContainer();
for (auto it = container.begin(); it != container.end(); ++it)
{
if (it->name_ == name) // string match
{
container.erase(it);
srdf_config_->updateRobotModel(getInfoField());
return true;
}
}
return false;
}
T* get(const std::string& name, const std::string& old_name = "")
{
if (name == old_name)
{
return find(name);
}
else if (old_name.empty())
{
return create(name);
}
else
{
return rename(old_name, name);
}
}
};
} // namespace srdf_setup
} // namespace moveit_setup