Program Listing for File urdf_config.hpp

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#pragma once

#include <moveit_setup_framework/config.hpp>
#include <urdf/model.h>  // for testing a valid urdf is loaded

namespace moveit_setup
{
class URDFConfig : public SetupConfig
{
public:
  URDFConfig()
  {
    urdf_model_ = std::make_shared<urdf::Model>();
  }

  void onInit() override;

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

  void loadFromPath(const std::filesystem::path& urdf_file_path, const std::string& xacro_args = "");
  void loadFromPath(const std::filesystem::path& urdf_file_path, const std::vector<std::string>& xacro_args);
  void loadFromPackage(const std::filesystem::path& package_name, const std::filesystem::path& relative_path,
                       const std::string& xacro_args = "");

  const urdf::Model& getModel() const
  {
    return *urdf_model_;
  }

  const std::shared_ptr<urdf::Model>& getModelPtr() const
  {
    return urdf_model_;
  }

  std::string getURDFPackageName() const
  {
    return urdf_pkg_name_;
  }

  std::string getURDFContents() const
  {
    return urdf_string_;
  }

  std::filesystem::path getURDFPath() const
  {
    return urdf_path_;
  }

  std::string getXacroArgs() const
  {
    return xacro_args_;
  }

  bool isConfigured() const override;

  bool isXacroFile() const;

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

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

  std::string getRobotName() const
  {
    return urdf_model_->getName();
  }

protected:
  void setPackageName();
  void load();

  std::filesystem::path urdf_path_;

  std::string urdf_pkg_name_;

  std::filesystem::path urdf_pkg_relative_path_;

  bool urdf_from_xacro_;

  std::string xacro_args_;
  std::vector<std::string> xacro_args_vec_;

  std::shared_ptr<urdf::Model> urdf_model_;

  std::string urdf_string_;
};
}  // namespace moveit_setup