moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <perception_config.hpp>
Classes | |
class | GeneratedSensorConfig |
Public Member Functions | |
void | loadPrevious (const std::filesystem::path &package_path, const YAML::Node &node) override |
Loads the configuration from an existing MoveIt configuration. More... | |
bool | isConfigured () const override |
Return true if this part of the configuration is completely set up. More... | |
const std::vector< SensorParameters > & | getSensorPluginConfig () |
Used for adding a sensor plugin configuration parameter to the sensor plugin configuration parameter list. More... | |
void | clearSensorPluginConfig () |
Clear the sensor plugin configuration parameter list. More... | |
void | setConfig (const SensorParameters ¶meters) |
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. More... | |
Public Member Functions inherited from moveit_setup::SetupConfig | |
SetupConfig ()=default | |
SetupConfig (const SetupConfig &)=default | |
SetupConfig (SetupConfig &&)=default | |
SetupConfig & | operator= (const SetupConfig &)=default |
SetupConfig & | operator= (SetupConfig &&)=default |
virtual | ~SetupConfig ()=default |
void | initialize (const std::shared_ptr< DataWarehouse > &config_data, const rclcpp::Node::SharedPtr &parent_node, const std::string &name) |
Called after construction to initialize the step. More... | |
virtual void | onInit () |
Overridable initialization method. More... | |
const std::string & | getName () |
The name for this part of the configuration. More... | |
virtual YAML::Node | saveToYaml () const |
Optionally save "meta" information for saving in the .setup_assistant yaml file. More... | |
virtual void | collectDependencies (std::set< std::string > &) const |
Collect the package dependencies generated by this configuration. More... | |
virtual void | collectVariables (std::vector< TemplateVariable > &) |
Collect key/value pairs for use in templates. More... | |
Static Public Member Functions | |
static std::vector< SensorParameters > | load3DSensorsYAML (const std::filesystem::path &file_path) |
Load perception sensor config. More... | |
Protected Attributes | |
std::vector< SensorParameters > | sensors_plugin_config_parameter_list_ |
Sensor plugin configuration parameter list, each sensor plugin type is a map of string pairs. More... | |
bool | changed_ { false } |
Protected Attributes inherited from moveit_setup::SetupConfig | |
std::shared_ptr< DataWarehouse > | config_data_ |
rclcpp::Node::SharedPtr | parent_node_ |
std::string | name_ |
std::shared_ptr< rclcpp::Logger > | logger_ |
Definition at line 47 of file perception_config.hpp.
void moveit_setup::app::PerceptionConfig::clearSensorPluginConfig | ( | ) |
Clear the sensor plugin configuration parameter list.
Definition at line 118 of file perception_config.cpp.
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inlineoverridevirtual |
Collect the files generated by this configuration and add them to the vector.
[in] | package_path | the path to the root of the config package |
[in] | last_gen_time | The time (if any) when the config package was last generated |
[out] | files | Where to put the new generated files |
Reimplemented from moveit_setup::SetupConfig.
Definition at line 105 of file perception_config.hpp.
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inline |
Used for adding a sensor plugin configuration parameter to the sensor plugin configuration parameter list.
Definition at line 63 of file perception_config.hpp.
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inlineoverridevirtual |
Return true if this part of the configuration is completely set up.
Reimplemented from moveit_setup::SetupConfig.
Definition at line 55 of file perception_config.hpp.
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static |
Load perception sensor config.
Definition at line 67 of file perception_config.cpp.
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overridevirtual |
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.
package_path | The path to the root folder of the configuration. |
Reimplemented from moveit_setup::SetupConfig.
Definition at line 46 of file perception_config.cpp.
void moveit_setup::app::PerceptionConfig::setConfig | ( | const SensorParameters & | parameters | ) |
Definition at line 131 of file perception_config.cpp.
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protected |
Definition at line 114 of file perception_config.hpp.
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protected |
Sensor plugin configuration parameter list, each sensor plugin type is a map of string pairs.
Definition at line 113 of file perception_config.hpp.