Program Listing for File jointconfiguration.h
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#pragma once
#include <string>
#include <utility>
#include <vector>
#include <functional>
#include <stdexcept>
#include <sensor_msgs/msg/joint_state.hpp>
#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_state/conversions.h>
#include "robotconfiguration.h"
namespace pilz_industrial_motion_planner_testutils
{
class JointConfigurationException : public std::runtime_error
{
public:
JointConfigurationException(const std::string& error_desc) : std::runtime_error(error_desc)
{
}
};
using CreateJointNameFunc = std::function<std::string(const size_t&)>;
class JointConfiguration : public RobotConfiguration
{
public:
JointConfiguration();
JointConfiguration(const std::string& group_name, const std::vector<double>& config,
CreateJointNameFunc&& create_joint_name_func);
JointConfiguration(const std::string& group_name, const std::vector<double>& config,
const moveit::core::RobotModelConstPtr& robot_model);
public:
void setJoint(const size_t index, const double value);
double getJoint(const size_t index) const;
const std::vector<double> getJoints() const;
size_t size() const;
moveit_msgs::msg::Constraints toGoalConstraints() const override;
moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override;
sensor_msgs::msg::JointState toSensorMsg() const;
moveit::core::RobotState toRobotState() const;
void setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func);
private:
moveit_msgs::msg::RobotState toMoveitMsgsRobotStateWithoutModel() const;
moveit_msgs::msg::RobotState toMoveitMsgsRobotStateWithModel() const;
moveit_msgs::msg::Constraints toGoalConstraintsWithoutModel() const;
moveit_msgs::msg::Constraints toGoalConstraintsWithModel() const;
private:
std::vector<double> joints_;
CreateJointNameFunc create_joint_name_func_;
};
std::ostream& operator<<(std::ostream& /*os*/, const JointConfiguration& /*obj*/);
inline moveit_msgs::msg::Constraints JointConfiguration::toGoalConstraints() const
{
return robot_model_ ? toGoalConstraintsWithModel() : toGoalConstraintsWithoutModel();
}
inline moveit_msgs::msg::RobotState JointConfiguration::toMoveitMsgsRobotState() const
{
return robot_model_ ? toMoveitMsgsRobotStateWithModel() : toMoveitMsgsRobotStateWithoutModel();
}
inline void JointConfiguration::setJoint(const size_t index, const double value)
{
joints_.at(index) = value;
}
inline double JointConfiguration::getJoint(const size_t index) const
{
return joints_.at(index);
}
inline const std::vector<double> JointConfiguration::getJoints() const
{
return joints_;
}
inline size_t JointConfiguration::size() const
{
return joints_.size();
}
inline void JointConfiguration::setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func)
{
create_joint_name_func_ = std::move(create_joint_name_func);
}
} // namespace pilz_industrial_motion_planner_testutils