Class IncludedXacroConfig

Inheritance Relationships

Base Type

  • public moveit_setup::SetupConfig

Derived Type

Class Documentation

class IncludedXacroConfig : public moveit_setup::SetupConfig

A virtual class that represents a xacro header that should be included in the modified urdf configuration.

Subclassed by moveit_setup::controllers::ControlXacroConfig

Public Types

using Ptr = std::shared_ptr<IncludedXacroConfig>

Public Functions

inline virtual void onInit() override
virtual std::string getFilepath() const = 0

The file path to use in the <xacro:include> tag.

If the file is in MoveIt config’s config folder, just the file name is fine. Alternatively you can return a package string a la $(find SOME_PACKAGE_NAME)/relative/path/to/header.xacro

virtual bool hasChanges() const = 0

Returns if the xacro and its properties have changed, resulting in the whole urdf needing regeneration.

inline virtual std::vector<std::pair<std::string, std::string>> getArguments() const

Returns a list of name/value pairs for arguments that the modified urdf should have.

Result will be <xacro:arg name=”pair.first” default=”pair.second” />

inline virtual std::vector<std::string> getCommands() const

Return a list of additional commands that need to be inserted after the xacro is included.

e.g. If the included xacro includes a macro definition, the command to run the macro could be here.

Protected Attributes

std::shared_ptr<URDFConfig> urdf_config_