Class SRDFConfig
Defined in File srdf_config.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public moveit_setup::SetupConfig
(Class SetupConfig)
Class Documentation
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class SRDFConfig : public moveit_setup::SetupConfig
Public Functions
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virtual void onInit() override
Overridable initialization method.
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inline virtual bool isConfigured() const override
Return true if this part of the configuration is completely set up.
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virtual void loadPrevious(const std::filesystem::path &package_path, const YAML::Node &node) override
Loads the configuration from an existing MoveIt configuration.
The data can be loaded directly from files in the configuration via the package path.
Certain other pieces of “meta” information may be stored in the .setup_assistant yaml file in the root of the configuration. If there is a node in that file that matches this config’s name, it is passed in as an argument.
- Parameters:
package_path – The path to the root folder of the configuration.
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virtual YAML::Node saveToYaml() const override
Optionally save “meta” information for saving in the .setup_assistant yaml file.
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void loadSRDFFile(const std::filesystem::path &package_path, const std::filesystem::path &relative_path)
Load SRDF File.
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void loadSRDFFile(const std::filesystem::path &srdf_file_path, const std::vector<std::string> &xacro_args = std::vector<std::string>())
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inline moveit::core::RobotModelPtr getRobotModel() const
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planning_scene::PlanningScenePtr getPlanningScene()
Provide a shared planning scene.
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void updateRobotModel(long changed_information = 0L)
Update the robot model with the new SRDF, AND mark the changes that have been made to the model changed_information should be composed of InformationFields
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std::vector<std::string> getLinkNames() const
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inline void clearCollisionData()
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inline std::vector<srdf::Model::CollisionPair> &getDisabledCollisions()
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inline std::vector<srdf::Model::EndEffector> &getEndEffectors()
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inline std::vector<srdf::Model::Group> &getGroups()
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inline std::vector<std::string> getGroupNames() const
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inline std::vector<srdf::Model::GroupState> &getGroupStates()
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inline std::vector<srdf::Model::VirtualJoint> &getVirtualJoints()
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inline std::vector<srdf::Model::PassiveJoint> &getPassiveJoints()
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std::string getChildOfJoint(const std::string &joint_name) const
Return the name of the child link of a joint.
- Returns:
empty string if joint is not found
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void removePoseByName(const std::string &pose_name, const std::string &group_name)
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std::vector<std::string> getJointNames(const std::string &group_name, bool include_multi_dof = true, bool include_passive = true)
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inline virtual void collectFiles(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, std::vector<GeneratedFilePtr> &files) override
Collect the files generated by this configuration and add them to the vector.
- Parameters:
package_path – [in] the path to the root of the config package
last_gen_time – [in] The time (if any) when the config package was last generated
files – [out] Where to put the new generated files
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virtual void collectVariables(std::vector<TemplateVariable> &variables) override
Collect key/value pairs for use in templates.
- Parameters:
variables – [out] Where to put the new Variables
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inline bool write(const std::filesystem::path &path)
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inline std::filesystem::path getPath() const
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inline unsigned long getChangeMask() const
Protected Attributes
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std::filesystem::path srdf_path_
Full file-system path to srdf.
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std::filesystem::path srdf_pkg_relative_path_
Path relative to loaded configuration package.
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srdf::SRDFWriter srdf_
SRDF Data and Writer.
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std::shared_ptr<urdf::Model> urdf_model_
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moveit::core::RobotModelPtr robot_model_
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planning_scene::PlanningScenePtr planning_scene_
Shared planning scene.
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unsigned long changes_
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class GeneratedCartesianLimits : public moveit_setup::TemplatedGeneratedFile
Public Functions
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inline virtual std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
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inline virtual std::filesystem::path getTemplatePath() const override
Returns the full path to the template file.
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inline virtual std::string getDescription() const override
Returns an English description of this file’s purpose.
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inline virtual bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
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inline virtual std::filesystem::path getRelativePath() const override
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class GeneratedJointLimits : public moveit_setup::YamlGeneratedFile
Public Functions
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inline GeneratedJointLimits(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, SRDFConfig &parent)
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inline virtual std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
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inline virtual std::string getDescription() const override
Returns an English description of this file’s purpose.
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inline virtual bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
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virtual bool writeYaml(YAML::Emitter &emitter) override
Protected Attributes
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SRDFConfig &parent_
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inline GeneratedJointLimits(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, SRDFConfig &parent)
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class GeneratedSRDF : public moveit_setup::GeneratedFile
Public Functions
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inline GeneratedSRDF(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, SRDFConfig &parent)
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inline virtual std::filesystem::path getRelativePath() const override
Returns the path relative to the configuration package root.
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inline virtual std::string getDescription() const override
Returns an English description of this file’s purpose.
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inline virtual bool hasChanges() const override
Returns true if this file will have changes when it is written to file.
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inline virtual bool write() override
Writes the file to disk.
Protected Attributes
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SRDFConfig &parent_
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inline GeneratedSRDF(const std::filesystem::path &package_path, const GeneratedTime &last_gen_time, SRDFConfig &parent)
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virtual void onInit() override