moveit_setup::srdf_setup::SuperSRDFStep< T > Class Template Reference

This class provides a number of standard operations based on srdf's vector members. More...

#include <srdf_step.hpp>

Inheritance diagram for moveit_setup::srdf_setup::SuperSRDFStep< T >:

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Public Member Functions
virtual std::vector< T > &	getContainer ()=0
	Returns the reference to the vector in the SRDF. More...
virtual InformationFields	getInfoField () const =0
	Returns the info field associated with this part of the SRDF. More...
T *	find (const std::string &name)
	Return a pointer to an item with the given name if it exists, otherwise null. More...
T *	create (const std::string &name)
	Create an item with the given name and return the pointer. More...
T *	rename (const std::string &old_name, const std::string &new_name)
	Renames an item and returns a pointer to the item. More...
bool	remove (const std::string &name)
	Delete an item with the given name from the list. More...
T *	get (const std::string &name, const std::string &old_name="")
	Get a pointer to an item with the given name, creating if necessary. If old_name is provided (and is different) will rename the given item. More...
Public Member Functions inherited from moveit_setup::srdf_setup::SRDFStep
void	onInit () override
	Overridable initialization method. More...
bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured. More...
bool	hasGroups () const
Public Member Functions inherited from moveit_setup::SetupStep
	SetupStep ()=default
	SetupStep (const SetupStep &)=default
	SetupStep (SetupStep &&)=default
SetupStep &	operator= (const SetupStep &)=default
SetupStep &	operator= (SetupStep &&)=default
virtual	~SetupStep ()=default
void	initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
	Called after construction to initialize the step. More...
virtual std::string	getName () const =0
	Returns the name of the setup step. More...
const rclcpp::Logger &	getLogger () const
	Makes a namespaced logger for this step available to the widget. More...

Additional Inherited Members
Protected Attributes inherited from moveit_setup::srdf_setup::SRDFStep
std::shared_ptr< SRDFConfig >	srdf_config_
Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr	config_data_
rclcpp::Node::SharedPtr	parent_node_
std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

template<typename T>
class moveit_setup::srdf_setup::SuperSRDFStep< T >

This class provides a number of standard operations based on srdf's vector members.

Assuming T is a type that has a name_ field, this provides the following operations on the container in which the name_ field is kept unique.

• find
• create
• rename
• remove
• get

Definition at line 82 of file srdf_step.hpp.

Member Function Documentation

create()

template<typename T >

T* moveit_setup::srdf_setup::SuperSRDFStep< T >::create ( const std::string &  name )

inline

Create an item with the given name and return the pointer.

Note

: Does not check if an item with the given name exists

Definition at line 115 of file srdf_step.hpp.

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find()

template<typename T >

T* moveit_setup::srdf_setup::SuperSRDFStep< T >::find ( const std::string &  name )

inline

Return a pointer to an item with the given name if it exists, otherwise null.

Definition at line 98 of file srdf_step.hpp.

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get()

template<typename T >

T* moveit_setup::srdf_setup::SuperSRDFStep< T >::get ( const std::string &  name, const std::string &  old_name = ""  )

inline

Get a pointer to an item with the given name, creating if necessary. If old_name is provided (and is different) will rename the given item.

Definition at line 164 of file srdf_step.hpp.

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getContainer()

template<typename T >

virtual std::vector<T>& moveit_setup::srdf_setup::SuperSRDFStep< T >::getContainer ( )

pure virtual

Returns the reference to the vector in the SRDF.

Implemented in moveit_setup::srdf_setup::VirtualJoints, moveit_setup::srdf_setup::PlanningGroups, and moveit_setup::srdf_setup::EndEffectors.

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getInfoField()

template<typename T >

virtual InformationFields moveit_setup::srdf_setup::SuperSRDFStep< T >::getInfoField ( ) const

pure virtual

Returns the info field associated with this part of the SRDF.

Implemented in moveit_setup::srdf_setup::VirtualJoints, moveit_setup::srdf_setup::PlanningGroups, and moveit_setup::srdf_setup::EndEffectors.

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remove()

template<typename T >

bool moveit_setup::srdf_setup::SuperSRDFStep< T >::remove ( const std::string &  name )

inline

Delete an item with the given name from the list.

Returns

true if item was found

Definition at line 145 of file srdf_step.hpp.

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rename()

template<typename T >

T* moveit_setup::srdf_setup::SuperSRDFStep< T >::rename ( const std::string &  old_name, const std::string &  new_name  )

inline

Renames an item and returns a pointer to the item.

Exceptions

runtime_error

If an item exists with the new name

Definition at line 128 of file srdf_step.hpp.

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The documentation for this class was generated from the following file:

• moveit_setup_assistant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/srdf_step.hpp