Program Listing for File data_warehouse.hpp
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/* Author: David V. Lu!! */
#include <moveit_setup_framework/config.hpp>
#include <moveit/macros/class_forward.h>
#include <pluginlib/class_loader.hpp>
#include <unordered_map>
#include <memory>
#pragma once
namespace moveit_setup
{
MOVEIT_CLASS_FORWARD(DataWarehouse); // Defines DataWarehousePtr, ConstPtr, WeakPtr... etc
class DataWarehouse : public std::enable_shared_from_this<DataWarehouse>
{
public:
DataWarehouse(const rclcpp::Node::SharedPtr& parent_node);
void preloadWithURDFPath(const std::filesystem::path& urdf_path);
void preloadWithFullConfig(const std::string& package_path_or_name);
SetupConfigPtr get(const std::string& config_name, std::string config_class = "");
template <typename T>
std::shared_ptr<T> get(const std::string& config_name, const std::string& config_class = "")
{
return std::static_pointer_cast<T>(get(config_name, config_class));
}
template <typename T>
std::unordered_map<std::string, std::shared_ptr<T>> getAll()
{
std::unordered_map<std::string, std::shared_ptr<T>> matches;
for (const auto& pair : registered_types_)
{
SetupConfigPtr uncast_ptr = get(pair.first);
std::shared_ptr<T> ptr = std::dynamic_pointer_cast<T>(uncast_ptr);
if (!ptr)
{
continue;
}
matches[pair.first] = ptr;
}
return matches;
}
void registerType(const std::string& config_name, const std::string& config_class);
std::vector<SetupConfigPtr> getConfigured();
const std::vector<std::string>& getRegisteredNames() const;
bool debug{ false };
protected:
rclcpp::Node::SharedPtr parent_node_;
pluginlib::ClassLoader<SetupConfig> config_loader_;
std::unordered_map<std::string, SetupConfigPtr> configs_; // mapping from name to config
std::unordered_map<std::string, std::string> registered_types_; // mapping from name to config class type
std::vector<std::string> registered_names_; // string version of keys for the maps, with ordering
};
} // namespace moveit_setup