Class ModifiedUrdfConfig

• Defined in File modified_urdf_config.hpp

Nested Relationships

Nested Types

• Class ModifiedUrdfConfig::GeneratedModifiedURDF

Inheritance Relationships

Base Type

• public SetupConfig

Class Documentation

class ModifiedUrdfConfig : public SetupConfig

A configuration that stores info about modifications to the URDF.

The modifications are primarily made in an included xacro file (which can be configured dynamically)

Public Functions

void onInit() override

bool isConfigured() const override

void loadPrevious(const std::filesystem::path&, const YAML::Node &node) override

YAML::Node saveToYaml() const override

bool hasChanges() const

Returns true if this or any of the included xacros have changes, requiring the URDF to be regenerated.

void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector<GeneratedFilePtr> &files) override

void collectDependencies(std::set<std::string> &packages) const override

void collectVariables(std::vector<TemplateVariable> &variables) override

Protected Functions

inline std::unordered_map<std::string, IncludedXacroConfig::Ptr> getIncludedXacroMap() const

inline std::vector<IncludedXacroConfig::Ptr> getIncludedXacros() const

inline std::vector<std::string> getIncludedXacroNames() const

Protected Attributes

std::shared_ptr<URDFConfig> urdf_config_

std::set<std::string> cached_xacro_names_

class GeneratedModifiedURDF : public TemplatedGeneratedFile

Public Functions

inline GeneratedModifiedURDF(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, ModifiedUrdfConfig &parent)

inline std::filesystem::path getRelativePath() const override

inline std::filesystem::path getTemplatePath() const override

inline std::string getDescription() const override

inline bool hasChanges() const override

Protected Attributes

ModifiedUrdfConfig &parent_