.. _program_listing_file_include_moveit_setup_controllers_modified_urdf_config.hpp:

Program Listing for File modified_urdf_config.hpp
=================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_controllers_modified_urdf_config.hpp>` (``include/moveit_setup_controllers/modified_urdf_config.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: David V. Lu!! */
   
   #pragma once
   
   #include <moveit_setup_controllers/included_xacro_config.hpp>
   #include <moveit_setup_framework/templates.hpp>
   
   namespace moveit_setup
   {
   class ModifiedUrdfConfig : public SetupConfig
   {
   public:
     void onInit() override;
     bool isConfigured() const override;
   
     void loadPrevious(const std::filesystem::path& /*config_package_path*/, const YAML::Node& node) override;
     YAML::Node saveToYaml() const override;
   
     bool hasChanges() const;
   
     class GeneratedModifiedURDF : public TemplatedGeneratedFile
     {
     public:
       GeneratedModifiedURDF(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                             ModifiedUrdfConfig& parent)
         : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent)
       {
       }
   
       std::filesystem::path getRelativePath() const override
       {
         return std::filesystem::path("config") / (parent_.urdf_config_->getRobotName() + ".urdf.xacro");
       }
   
       std::filesystem::path getTemplatePath() const override
       {
         return getSharePath("moveit_setup_controllers") / "templates" / "config" / "modified.urdf.xacro";
       }
   
       std::string getDescription() const override
       {
         return "A modified version of the original URDF file with additional interfaces (e.g. ros2_control, simulation)";
       }
   
       bool hasChanges() const override
       {
         return parent_.hasChanges();
       }
   
     protected:
       ModifiedUrdfConfig& parent_;
     };
   
     void collectFiles(const std::filesystem::path& package_path, const GeneratedTime& last_gen_time,
                       std::vector<GeneratedFilePtr>& files) override;
     void collectDependencies(std::set<std::string>& packages) const override;
     void collectVariables(std::vector<TemplateVariable>& variables) override;
   
   protected:
     std::unordered_map<std::string, IncludedXacroConfig::Ptr> getIncludedXacroMap() const
     {
       return config_data_->getAll<IncludedXacroConfig>();
     }
   
     std::vector<IncludedXacroConfig::Ptr> getIncludedXacros() const
     {
       std::vector<IncludedXacroConfig::Ptr> xacros;
       for (auto& pair : getIncludedXacroMap())
       {
         if (pair.second->isConfigured())
           xacros.push_back(pair.second);
       }
       return xacros;
     }
   
     std::vector<std::string> getIncludedXacroNames() const
     {
       std::vector<std::string> names;
       for (auto& pair : getIncludedXacroMap())
       {
         if (pair.second->isConfigured())
           names.push_back(pair.first);
       }
   
       return names;
     }
   
     std::shared_ptr<URDFConfig> urdf_config_;
     std::set<std::string> cached_xacro_names_;
   };
   }  // namespace moveit_setup