robotconfiguration.cpp

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#include "pilz_industrial_motion_planner_testutils/robotconfiguration.h"
 
#include <stdexcept>
 
namespace pilz_industrial_motion_planner_testutils
{
RobotConfiguration::RobotConfiguration() : RobotStateMsgConvertible(), GoalConstraintMsgConvertible()
{
}
 
RobotConfiguration::RobotConfiguration(const std::string& group_name)
  : RobotStateMsgConvertible(), GoalConstraintMsgConvertible(), group_name_(group_name)
{
}
 
RobotConfiguration::RobotConfiguration(const std::string& group_name,
                                       const moveit::core::RobotModelConstPtr& robot_model)
  : RobotStateMsgConvertible(), GoalConstraintMsgConvertible(), group_name_(group_name), robot_model_(robot_model)
{
  if (robot_model && (!robot_model_->hasJointModelGroup(group_name_)))
  {
    std::string msg{ "Specified robot model does not contain specified group \"" };
    msg.append(group_name).append("\"");
    throw std::invalid_argument(msg);
  }
}
 
}  // namespace pilz_industrial_motion_planner_testutils