Program Listing for File controllers_config.hpp

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/* Author: David V. Lu!! */
#pragma once

#include <moveit_setup_framework/config.hpp>
#include <moveit_setup_framework/data_warehouse.hpp>
#include <moveit_setup_framework/templates.hpp>
#include <moveit_setup_framework/utilities.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>

namespace moveit_setup
{
namespace controllers
{
struct ControllerInfo
{
  std::string name_;                 // controller name
  std::string type_;                 // controller type
  std::vector<std::string> joints_;  // joints controlled by this controller
  std::map<std::string, std::string> parameters_;
};

class ControllersConfig : public SetupConfig
{
public:
  bool isConfigured() const override
  {
    return !controllers_.empty();
  }

  std::vector<ControllerInfo>& getControllers()
  {
    return controllers_;
  }

  bool addController(const std::string& name, const std::string& type, const std::vector<std::string>& joint_names);

  bool addController(const ControllerInfo& new_controller);

  ControllerInfo* findControllerByName(const std::string& controller_name);

  bool deleteController(const std::string& controller_name);

  bool hasChangedGroups() const
  {
    auto srdf_config = config_data_->get<SRDFConfig>("srdf");
    return srdf_config->getChangeMask() & GROUPS;
  }

protected:
  std::vector<ControllerInfo> controllers_;
  bool changed_;
};
}  // namespace controllers
}  // namespace moveit_setup