Program Listing for File virtual_joints.hpp
↰ Return to documentation for file (include/moveit_setup_srdf_plugins/virtual_joints.hpp
)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2021, PickNik Robotics
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of PickNik Robotics nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: David V. Lu!! */
#pragma once
#include <moveit_setup_srdf_plugins/srdf_step.hpp>
#include <moveit_setup_framework/data/urdf_config.hpp>
namespace moveit_setup
{
namespace srdf_setup
{
class VirtualJoints : public SuperSRDFStep<srdf::Model::VirtualJoint>
{
public:
std::string getName() const override
{
return "Virtual Joints";
}
std::vector<srdf::Model::VirtualJoint>& getContainer() override
{
return srdf_config_->getVirtualJoints();
}
InformationFields getInfoField() const override
{
return VIRTUAL_JOINTS;
}
void onInit() override;
void setProperties(srdf::Model::VirtualJoint* vj, const std::string& parent_name, const std::string& child_name,
const std::string& joint_type);
std::vector<std::string> getLinkNames() const
{
return srdf_config_->getLinkNames();
}
protected:
std::shared_ptr<URDFConfig> urdf_config_;
};
} // namespace srdf_setup
} // namespace moveit_setup