.. _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 ` (``include/moveit_setup_controllers/moveit_controllers.hpp``) .. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS .. code-block:: cpp /********************************************************************* * Software License Agreement (BSD License) * * Copyright (c) 2021, PickNik Robotics * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of PickNik Robotics nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *********************************************************************/ /* Author: David V. Lu!! */ #pragma once #include #include 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("srdf"); controllers_config_ = config_data_->get("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 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()); fields.push_back(std::make_shared()); return fields; } }; } // namespace controllers } // namespace moveit_setup