Classes | Public Types | Public Member Functions | Public Attributes | Private Attributes
moveit_setup_assistant::MoveItConfigData Class Reference

This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package. More...

#include <moveit_config_data.h>

List of all members.

Classes

struct  joint_model_compare
 Custom std::set comparator, used for sorting the joint_limits.yaml file into alphabetical order. More...

Public Types

enum  InformationFields {
  COLLISIONS = 1 << 1, VIRTUAL_JOINTS = 1 << 2, GROUPS = 1 << 3, GROUP_CONTENTS = 1 << 4,
  GROUP_KINEMATICS = 1 << 5, POSES = 1 << 6, END_EFFECTORS = 1 << 7, PASSIVE_JOINTS = 1 << 8,
  AUTHOR_INFO = 1 << 9, SRDF = COLLISIONS | VIRTUAL_JOINTS | GROUPS | GROUP_CONTENTS | POSES | END_EFFECTORS | PASSIVE_JOINTS
}

Public Member Functions

std::string appendPaths (const std::string &path1, const std::string &path2)
bool createFullSRDFPath (const std::string &package_path)
 Make the full SRDF path using the loaded .setup_assistant data.
bool createFullURDFPath ()
 Make the full URDF path using the loaded .setup_assistant data.
std::string decideProjectionJoints (std::string planning_group)
 Decide the best two joints to be used for the projection evaluator.
srdf::Model::GroupfindGroupByName (const std::string &name)
planning_scene::PlanningScenePtr getPlanningScene ()
 Provide a shared planning scene.
robot_model::RobotModelConstPtr getRobotModel ()
 Provide a shared kinematic model loader.
bool getSetupAssistantYAMLPath (std::string &path)
bool inputKinematicsYAML (const std::string &file_path)
bool inputSetupAssistantYAML (const std::string &file_path)
void loadAllowedCollisionMatrix ()
 Load the allowed collision matrix from the SRDF's list of link pairs.
 MoveItConfigData ()
bool outputFakeControllersYAML (const std::string &file_path)
bool outputJointLimitsYAML (const std::string &file_path)
bool outputKinematicsYAML (const std::string &file_path)
bool outputOMPLPlanningYAML (const std::string &file_path)
bool outputSetupAssistantFile (const std::string &file_path)
void setCollisionLinkPairs (const moveit_setup_assistant::LinkPairMap &link_pairs, size_t skip_mask=0)
 Set list of collision link pairs in SRDF; sorted; with optional filter.
bool setPackagePath (const std::string &pkg_path)
void updateRobotModel ()
 Update the Kinematic Model with latest SRDF modifications.
 ~MoveItConfigData ()

Public Attributes

collision_detection::AllowedCollisionMatrix allowed_collision_matrix_
 Allowed collision matrix for robot poses.
std::string author_email_
 Email of the author of this config.
std::string author_name_
 Name of the author of this config.
unsigned long changes
std::time_t config_pkg_generated_timestamp_
 Timestamp when configuration package was generated, if it was previously generated.
std::string config_pkg_path_
 Loaded configuration package path - if an existing package was loaded, holds that path.
bool debug_
 Is this application in debug mode?
std::map< std::string,
GroupMetaData
group_meta_data_
 Planning groups extra data not found in srdf but used in config files.
std::string setup_assistant_path_
 Setup Assistants package's path for when we use its templates.
srdf::SRDFWriterPtr srdf_
 SRDF Data and Writer.
std::string srdf_path_
 Full file-system path to srdf.
std::string srdf_pkg_relative_path_
 Path relative to loaded configuration package.
std::string template_package_path_
 Location that moveit_setup_assistant stores its templates.
bool urdf_from_xacro_
 Flag indicating whether the URDF was loaded from .xacro format.
boost::shared_ptr< urdf::Modelurdf_model_
 URDF robot model.
std::string urdf_path_
 Full file-system path to urdf.
std::string urdf_pkg_name_
 Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg)
std::string urdf_pkg_relative_path_
 Path relative to urdf package (note: this may be same as urdf_path_)
bool urdf_requires_jade_xacro_
 Flag indicating whether Jade+ extensions should be enabled when loading xacro.

Private Attributes

planning_scene::PlanningScenePtr planning_scene_
robot_model::RobotModelPtr robot_model_
robot_model::RobotModelConstPtr robot_model_const_

Detailed Description

This class is shared with all widgets and contains the common configuration data needed for generating each robot's MoveIt configuration package.

All SRDF data is contained in a subclass of this class - srdf_writer.cpp. This class also contains the functions for writing out the configuration files.

Definition at line 134 of file moveit_config_data.h.


Member Enumeration Documentation

Enumerator:
COLLISIONS 
VIRTUAL_JOINTS 
GROUPS 
GROUP_CONTENTS 
GROUP_KINEMATICS 
POSES 
END_EFFECTORS 
PASSIVE_JOINTS 
AUTHOR_INFO 
SRDF 

Definition at line 141 of file moveit_config_data.h.


Constructor & Destructor Documentation

Definition at line 154 of file moveit_config_data.cpp.

Definition at line 174 of file moveit_config_data.cpp.


Member Function Documentation

std::string moveit_setup_assistant::MoveItConfigData::appendPaths ( const std::string &  path1,
const std::string &  path2 
)

Helper Function for joining a file path and a file name, or two file paths, etc, in a cross-platform way

Parameters:
path1first half of path
path2second half of path, or filename
Returns:
string resulting combined paths

Definition at line 1022 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::createFullSRDFPath ( const std::string &  package_path)

Make the full SRDF path using the loaded .setup_assistant data.

Definition at line 909 of file moveit_config_data.cpp.

Make the full URDF path using the loaded .setup_assistant data.

Definition at line 877 of file moveit_config_data.cpp.

std::string moveit_setup_assistant::MoveItConfigData::decideProjectionJoints ( std::string  planning_group)

Decide the best two joints to be used for the projection evaluator.

Parameters:
planning_groupname of group to use
Returns:
string - value to insert into yaml file

Definition at line 699 of file moveit_config_data.cpp.

Find the associated group by name

Parameters:
name- name of data to find in datastructure
Returns:
pointer to data in datastructure

Definition at line 1029 of file moveit_config_data.cpp.

planning_scene::PlanningScenePtr moveit_setup_assistant::MoveItConfigData::getPlanningScene ( )

Provide a shared planning scene.

Definition at line 214 of file moveit_config_data.cpp.

robot_model::RobotModelConstPtr moveit_setup_assistant::MoveItConfigData::getRobotModel ( )

Provide a shared kinematic model loader.

Definition at line 181 of file moveit_config_data.cpp.

Resolve path to .setup_assistant file

Parameters:
pathresolved path
Returns:
bool if the path could be resolved

Definition at line 866 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::inputKinematicsYAML ( const std::string &  file_path)

Input kinematics.yaml file for editing its values

Parameters:
file_pathpath to kinematics.yaml in the input package
Returns:
bool if the file was read correctly

Definition at line 733 of file moveit_config_data.cpp.

Input .setup_assistant file - contains data used for the MoveIt Setup Assistant

Parameters:
file_pathpath to .setup_assistant file
Returns:
bool if the file was read correctly

Definition at line 919 of file moveit_config_data.cpp.

Load the allowed collision matrix from the SRDF's list of link pairs.

Definition at line 230 of file moveit_config_data.cpp.

Definition at line 499 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputJointLimitsYAML ( const std::string &  file_path)

Definition at line 556 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::outputKinematicsYAML ( const std::string &  file_path)

Definition at line 448 of file moveit_config_data.cpp.

Definition at line 297 of file moveit_config_data.cpp.

SRDF Path Location

Package generation time

Definition at line 246 of file moveit_config_data.cpp.

Set list of collision link pairs in SRDF; sorted; with optional filter.

Parameters:
link_pairslist of collision link pairs
skip_maskmask of shifted moveit_setup_assistant::DisabledReason values that will be skipped

Definition at line 667 of file moveit_config_data.cpp.

bool moveit_setup_assistant::MoveItConfigData::setPackagePath ( const std::string &  pkg_path)

Set package path; try to resolve path from package name if directory does not exist

Parameters:
pkg_pathpath to package or package name
Returns:
bool if the path was set

Definition at line 836 of file moveit_config_data.cpp.

Update the Kinematic Model with latest SRDF modifications.

Definition at line 196 of file moveit_config_data.cpp.


Member Data Documentation

Allowed collision matrix for robot poses.

Definition at line 213 of file moveit_config_data.h.

Email of the author of this config.

Definition at line 222 of file moveit_config_data.h.

Name of the author of this config.

Definition at line 219 of file moveit_config_data.h.

Definition at line 154 of file moveit_config_data.h.

Timestamp when configuration package was generated, if it was previously generated.

Definition at line 216 of file moveit_config_data.h.

Loaded configuration package path - if an existing package was loaded, holds that path.

Definition at line 204 of file moveit_config_data.h.

Is this application in debug mode?

Definition at line 210 of file moveit_config_data.h.

Planning groups extra data not found in srdf but used in config files.

Definition at line 198 of file moveit_config_data.h.

planning_scene::PlanningScenePtr moveit_setup_assistant::MoveItConfigData::planning_scene_ [private]

Definition at line 340 of file moveit_config_data.h.

robot_model::RobotModelPtr moveit_setup_assistant::MoveItConfigData::robot_model_ [private]

Definition at line 336 of file moveit_config_data.h.

robot_model::RobotModelConstPtr moveit_setup_assistant::MoveItConfigData::robot_model_const_ [private]

Definition at line 337 of file moveit_config_data.h.

Setup Assistants package's path for when we use its templates.

Definition at line 201 of file moveit_config_data.h.

SRDF Data and Writer.

Definition at line 191 of file moveit_config_data.h.

Full file-system path to srdf.

Definition at line 185 of file moveit_config_data.h.

Path relative to loaded configuration package.

Definition at line 188 of file moveit_config_data.h.

Location that moveit_setup_assistant stores its templates.

Definition at line 207 of file moveit_config_data.h.

Flag indicating whether the URDF was loaded from .xacro format.

Definition at line 175 of file moveit_config_data.h.

URDF robot model.

Definition at line 178 of file moveit_config_data.h.

Full file-system path to urdf.

Definition at line 163 of file moveit_config_data.h.

Name of package containig urdf (note: this may be empty b/c user may not have urdf in pkg)

Definition at line 166 of file moveit_config_data.h.

Path relative to urdf package (note: this may be same as urdf_path_)

Definition at line 169 of file moveit_config_data.h.

Flag indicating whether Jade+ extensions should be enabled when loading xacro.

Definition at line 172 of file moveit_config_data.h.


The documentation for this class was generated from the following files:


moveit_setup_assistant
Author(s): Dave Coleman
autogenerated on Wed Jun 19 2019 19:25:13