.. _program_listing_file_include_moveit_setup_controllers_moveit_controllers.hpp:

Program Listing for File moveit_controllers.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_setup_controllers_moveit_controllers.hpp>` (``include/moveit_setup_controllers/moveit_controllers.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/controllers.hpp>
   #include <moveit_setup_controllers/moveit_controllers_config.hpp>
   
   namespace moveit_setup
   {
   namespace controllers
   {
   class MoveItControllers : public Controllers
   {
   public:
     std::string getName() const override
     {
       return "MoveIt Controllers";
     }
   
     void onInit() override
     {
       config_data_->registerType("moveit_controllers", "moveit_setup::controllers::MoveItControllersConfig");
       srdf_config_ = config_data_->get<SRDFConfig>("srdf");
       controllers_config_ = config_data_->get<MoveItControllersConfig>("moveit_controllers");
     }
   
     std::string getInstructions() const override
     {
       return "Configure controllers to be used in executing trajectories with MoveIt (hardware or simulation)."
              "hardware";
     }
   
     std::string getButtonText() const override
     {
       return "Auto Add &FollowJointsTrajectory \n Controllers For Each Planning Group";
     }
   
     std::vector<std::string> getAvailableTypes() const override
     {
       return { "FollowJointTrajectory", "GripperCommand" };
     }
   
     std::string getDefaultType() const override
     {
       return "FollowJointTrajectory";
     }
   
     class ActionNamespaceField : public AdditionalControllerField
     {
     public:
       ActionNamespaceField() : AdditionalControllerField("Action Namespace", "action_ns")
       {
       }
       std::string getDefaultValue(const std::string& controller_type) const override
       {
         if (controller_type == "FollowJointTrajectory")
         {
           return "follow_joint_trajectory";
         }
         else if (controller_type == "GripperCommand")
         {
           return "gripper_cmd";
         }
         else
         {
           return "";
         }
       }
     };
   
     class DefaultField : public AdditionalControllerField
     {
     public:
       DefaultField() : AdditionalControllerField("Default", "default")
       {
       }
       std::string getDefaultValue(const std::string& /*controller_type*/) const override
       {
         return "true";
       }
     };
   
     FieldPointers getAdditionalControllerFields() const override
     {
       FieldPointers fields;
       fields.push_back(std::make_shared<ActionNamespaceField>());
       fields.push_back(std::make_shared<DefaultField>());
       return fields;
     }
   };
   }  // namespace controllers
   }  // namespace moveit_setup