Program Listing for File included_xacro_config.hpp

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/* Author: David V. Lu!! */

#pragma once

#include <moveit_setup_framework/data/urdf_config.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>

namespace moveit_setup
{
class IncludedXacroConfig : public SetupConfig
{
public:
  void onInit() override
  {
    // Register the modified config and access it to ensure it is generated
    config_data_->registerType("modified_urdf", "moveit_setup::ModifiedUrdfConfig");
    config_data_->get("modified_urdf", "moveit_setup::ModifiedUrdfConfig");

    urdf_config_ = config_data_->get<URDFConfig>("urdf");
  }

  virtual std::string getFilepath() const = 0;

  virtual bool hasChanges() const = 0;

  virtual std::vector<std::pair<std::string, std::string>> getArguments() const
  {
    return {};
  };

  virtual std::vector<std::string> getCommands() const
  {
    return {};
  }

  using Ptr = std::shared_ptr<IncludedXacroConfig>;

protected:
  std::shared_ptr<URDFConfig> urdf_config_;
};

}  // namespace moveit_setup