This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package. More...

#include <moveit_config_data.h>

Classes
struct	joint_model_compare
	Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order. More...
Public Types
enum	InformationFields { COLLISIONS = 1 << 1, VIRTUAL_JOINTS = 1 << 2, GROUPS = 1 << 3, GROUP_CONTENTS = 1 << 4, GROUP_KINEMATICS = 1 << 5, POSES = 1 << 6, END_EFFECTORS = 1 << 7, PASSIVE_JOINTS = 1 << 8, AUTHOR_INFO = 1 << 9, SRDF = COLLISIONS \| VIRTUAL_JOINTS \| GROUPS \| GROUP_CONTENTS \| POSES \| END_EFFECTORS \| PASSIVE_JOINTS }
Public Member Functions
std::string	appendPaths (const std::string &path1, const std::string &path2)
bool	createFullSRDFPath (const std::string &package_path)
	Make the full SRDF path using the loaded .setup_assistant data.
bool	createFullURDFPath ()
	Make the full URDF path using the loaded .setup_assistant data.
std::string	decideProjectionJoints (std::string planning_group)
	Decide the best two joints to be used for the projection evaluator.
srdf::Model::Group *	findGroupByName (const std::string &name)
planning_scene::PlanningScenePtr	getPlanningScene ()
	Provide a shared planning scene.
robot_model::RobotModelConstPtr	getRobotModel ()
	Provide a shared kinematic model loader.
bool	getSetupAssistantYAMLPath (std::string &path)
bool	inputKinematicsYAML (const std::string &file_path)
bool	inputSetupAssistantYAML (const std::string &file_path)
void	loadAllowedCollisionMatrix ()
	Load the allowed collision matrix from the SRDF's list of link pairs.
	MoveItConfigData ()
bool	outputFakeControllersYAML (const std::string &file_path)
bool	outputJointLimitsYAML (const std::string &file_path)
bool	outputKinematicsYAML (const std::string &file_path)
bool	outputOMPLPlanningYAML (const std::string &file_path)
bool	outputSetupAssistantFile (const std::string &file_path)
void	setCollisionLinkPairs (const moveit_setup_assistant::LinkPairMap &link_pairs, size_t skip_mask=0)
	Set list of collision link pairs in SRDF; sorted; with optional filter.
bool	setPackagePath (const std::string &pkg_path)
void	updateRobotModel ()
	Update the Kinematic Model with latest SRDF modifications.
	~MoveItConfigData ()
Public Attributes
collision_detection::AllowedCollisionMatrix	allowed_collision_matrix_
	Allowed collision matrix for robot poses.
std::string	author_email_
	Email of the author of this config.
std::string	author_name_
	Name of the author of this config.
unsigned long	changes
std::time_t	config_pkg_generated_timestamp_
	Timestamp when configuration package was generated, if it was previously generated.
std::string	config_pkg_path_
	Loaded configuration package path - if an existing package was loaded, holds that path.
bool	debug_
	Is this application in debug mode?
std::map< std::string, GroupMetaData >	group_meta_data_
	Planning groups extra data not found in srdf but used in config files.
std::string	setup_assistant_path_
	Setup Assistants package's path for when we use its templates.
srdf::SRDFWriterPtr	srdf_
	SRDF Data and Writer.
std::string	srdf_path_
	Full file-system path to srdf.
std::string	srdf_pkg_relative_path_
	Path relative to loaded configuration package.
std::string	template_package_path_
	Location that moveit_setup_assistant stores its templates.
bool	urdf_from_xacro_
	Flag indicating whether the URDF was loaded from .xacro format.
boost::shared_ptr< urdf::Model >	urdf_model_
	URDF robot model.
std::string	urdf_path_
	Full file-system path to urdf.
std::string	urdf_pkg_name_
	Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg)
std::string	urdf_pkg_relative_path_
	Path relative to urdf package (note: this may be same as urdf_path_)
bool	urdf_requires_jade_xacro_
	Flag indicating whether Jade+ extensions should be enabled when loading xacro.
Private Attributes
planning_scene::PlanningScenePtr	planning_scene_
robot_model::RobotModelPtr	robot_model_
robot_model::RobotModelConstPtr	robot_model_const_

Detailed Description

This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package.

All SRDF data is contained in a subclass of this class - srdf_writer.cpp. This class also contains the functions for writing out the configuration files.

Definition at line 134 of file moveit_config_data.h.

Member Enumeration Documentation

enum moveit_setup_assistant::MoveItConfigData::InformationFields

Enumerator:

COLLISIONS
VIRTUAL_JOINTS
GROUPS
GROUP_CONTENTS
GROUP_KINEMATICS
POSES
END_EFFECTORS
PASSIVE_JOINTS
AUTHOR_INFO
SRDF

Definition at line 141 of file moveit_config_data.h.

Constructor & Destructor Documentation

moveit_setup_assistant::MoveItConfigData::MoveItConfigData ( )

Definition at line 154 of file moveit_config_data.cpp.

moveit_setup_assistant::MoveItConfigData::~MoveItConfigData ( )

Definition at line 174 of file moveit_config_data.cpp.

Member Function Documentation

std::string moveit_setup_assistant::MoveItConfigData::appendPaths	(	const std::string &	path1,
		const std::string &	path2
	)

Helper Function for joining a file path and a file name, or two file paths, etc, in a cross-platform way

Parameters:

path1	first half of path
path2	second half of path, or filename

Returns:: string resulting combined paths

Definition at line 1022 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::createFullSRDFPath ( const std::string & package_path )

Make the full SRDF path using the loaded .setup_assistant data.

Definition at line 909 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::createFullURDFPath ( )

Make the full URDF path using the loaded .setup_assistant data.

Definition at line 877 of file moveit_config_data.cpp.

std::string moveit_setup_assistant::MoveItConfigData::decideProjectionJoints ( std::string planning_group )

Decide the best two joints to be used for the projection evaluator.

Parameters:

planning_group name of group to use

Returns:: string - value to insert into yaml file

Definition at line 699 of file moveit_config_data.cpp.

srdf::Model::Group * moveit_setup_assistant::MoveItConfigData::findGroupByName ( const std::string & name )

Find the associated group by name

Parameters:

name	- name of data to find in datastructure

Returns:: pointer to data in datastructure

Definition at line 1029 of file moveit_config_data.cpp.

planning_scene::PlanningScenePtr moveit_setup_assistant::MoveItConfigData::getPlanningScene ( )

Provide a shared planning scene.

Definition at line 214 of file moveit_config_data.cpp.

robot_model::RobotModelConstPtr moveit_setup_assistant::MoveItConfigData::getRobotModel ( )

Provide a shared kinematic model loader.

Definition at line 181 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::getSetupAssistantYAMLPath ( std::string & path )

Resolve path to .setup_assistant file

Parameters:

path	resolved path

Returns:: bool if the path could be resolved

Definition at line 866 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::inputKinematicsYAML ( const std::string & file_path )

Input kinematics.yaml file for editing its values

Parameters:

file_path path to kinematics.yaml in the input package

Returns:: bool if the file was read correctly

Definition at line 733 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::inputSetupAssistantYAML ( const std::string & file_path )

Input .setup_assistant file - contains data used for the MoveIt Setup Assistant

Parameters:

file_path path to .setup_assistant file

Returns:: bool if the file was read correctly

Definition at line 919 of file moveit_config_data.cpp.

void moveit_setup_assistant::MoveItConfigData::loadAllowedCollisionMatrix ( )

Load the allowed collision matrix from the SRDF's list of link pairs.

Definition at line 230 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputFakeControllersYAML ( const std::string & file_path )

Definition at line 499 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputJointLimitsYAML ( const std::string & file_path )

Definition at line 556 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputKinematicsYAML ( const std::string & file_path )

Definition at line 448 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputOMPLPlanningYAML ( const std::string & file_path )

Definition at line 297 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputSetupAssistantFile ( const std::string & file_path )

SRDF Path Location

Package generation time

Definition at line 246 of file moveit_config_data.cpp.

void moveit_setup_assistant::MoveItConfigData::setCollisionLinkPairs	(	const moveit_setup_assistant::LinkPairMap &	link_pairs,
		size_t	skip_mask = `0`
	)

Set list of collision link pairs in SRDF; sorted; with optional filter.

Parameters:

link_pairs	list of collision link pairs
skip_mask	mask of shifted moveit_setup_assistant::DisabledReason values that will be skipped

Definition at line 667 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::setPackagePath ( const std::string & pkg_path )

Set package path; try to resolve path from package name if directory does not exist

Parameters:

pkg_path path to package or package name

Returns:: bool if the path was set

Definition at line 836 of file moveit_config_data.cpp.

void moveit_setup_assistant::MoveItConfigData::updateRobotModel ( )

Update the Kinematic Model with latest SRDF modifications.

Definition at line 196 of file moveit_config_data.cpp.

Member Data Documentation

collision_detection::AllowedCollisionMatrix moveit_setup_assistant::MoveItConfigData::allowed_collision_matrix_

Allowed collision matrix for robot poses.

Definition at line 213 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::author_email_

Email of the author of this config.

Definition at line 222 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::author_name_

Name of the author of this config.

Definition at line 219 of file moveit_config_data.h.

unsigned long moveit_setup_assistant::MoveItConfigData::changes

Definition at line 154 of file moveit_config_data.h.

std::time_t moveit_setup_assistant::MoveItConfigData::config_pkg_generated_timestamp_

Timestamp when configuration package was generated, if it was previously generated.

Definition at line 216 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::config_pkg_path_

Loaded configuration package path - if an existing package was loaded, holds that path.

Definition at line 204 of file moveit_config_data.h.

bool moveit_setup_assistant::MoveItConfigData::debug_

Is this application in debug mode?

Definition at line 210 of file moveit_config_data.h.

std::map<std::string, GroupMetaData> moveit_setup_assistant::MoveItConfigData::group_meta_data_

Planning groups extra data not found in srdf but used in config files.

Definition at line 198 of file moveit_config_data.h.

planning_scene::PlanningScenePtr moveit_setup_assistant::MoveItConfigData::planning_scene_ [private]

Definition at line 340 of file moveit_config_data.h.

robot_model::RobotModelPtr moveit_setup_assistant::MoveItConfigData::robot_model_ [private]

Definition at line 336 of file moveit_config_data.h.

robot_model::RobotModelConstPtr moveit_setup_assistant::MoveItConfigData::robot_model_const_ [private]

Definition at line 337 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::setup_assistant_path_

Setup Assistants package's path for when we use its templates.

Definition at line 201 of file moveit_config_data.h.

srdf::SRDFWriterPtr moveit_setup_assistant::MoveItConfigData::srdf_

SRDF Data and Writer.

Definition at line 191 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::srdf_path_

Full file-system path to srdf.

Definition at line 185 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::srdf_pkg_relative_path_

Path relative to loaded configuration package.

Definition at line 188 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::template_package_path_

Location that moveit_setup_assistant stores its templates.

Definition at line 207 of file moveit_config_data.h.

bool moveit_setup_assistant::MoveItConfigData::urdf_from_xacro_

Flag indicating whether the URDF was loaded from .xacro format.

Definition at line 175 of file moveit_config_data.h.

boost::shared_ptr<urdf::Model> moveit_setup_assistant::MoveItConfigData::urdf_model_

URDF robot model.

Definition at line 178 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_path_

Full file-system path to urdf.

Definition at line 163 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_pkg_name_

Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg)

Definition at line 166 of file moveit_config_data.h.

std::string moveit_setup_assistant::MoveItConfigData::urdf_pkg_relative_path_

Path relative to urdf package (note: this may be same as urdf_path_)

Definition at line 169 of file moveit_config_data.h.

bool moveit_setup_assistant::MoveItConfigData::urdf_requires_jade_xacro_

Flag indicating whether Jade+ extensions should be enabled when loading xacro.

Definition at line 172 of file moveit_config_data.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation