Program Listing for File urdf_config.hpp
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#pragma once
#include <moveit_setup_framework/config.hpp>
#include <urdf/model.h> // for testing a valid urdf is loaded
namespace moveit_setup
{
class URDFConfig : public SetupConfig
{
public:
URDFConfig()
{
urdf_model_ = std::make_shared<urdf::Model>();
}
void onInit() override;
void loadPrevious(const std::filesystem::path& package_path, const YAML::Node& node) override;
YAML::Node saveToYaml() const override;
void loadFromPath(const std::filesystem::path& urdf_file_path, const std::string& xacro_args = "");
void loadFromPath(const std::filesystem::path& urdf_file_path, const std::vector<std::string>& xacro_args);
void loadFromPackage(const std::filesystem::path& package_name, const std::filesystem::path& relative_path,
const std::string& xacro_args = "");
const urdf::Model& getModel() const
{
return *urdf_model_;
}
const std::shared_ptr<urdf::Model>& getModelPtr() const
{
return urdf_model_;
}
std::string getURDFPackageName() const
{
return urdf_pkg_name_;
}
std::string getURDFContents() const
{
return urdf_string_;
}
std::filesystem::path getURDFPath() const
{
return urdf_path_;
}
std::string getXacroArgs() const
{
return xacro_args_;
}
bool isConfigured() const override;
bool isXacroFile() const;
void collectDependencies(std::set<std::string>& packages) const override;
void collectVariables(std::vector<TemplateVariable>& variables) override;
std::string getRobotName() const
{
return urdf_model_->getName();
}
protected:
void setPackageName();
void load();
std::filesystem::path urdf_path_;
std::string urdf_pkg_name_;
std::filesystem::path urdf_pkg_relative_path_;
bool urdf_from_xacro_;
std::string xacro_args_;
std::vector<std::string> xacro_args_vec_;
std::shared_ptr<urdf::Model> urdf_model_;
std::string urdf_string_;
};
} // namespace moveit_setup