urdf_config.hpp

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#pragma once
 
#include <moveit_setup_framework/config.hpp>
#if __has_include(<urdf/model.hpp>)  // for testing a valid urdf is loaded
#include <urdf/model.hpp>
#else
#include <urdf/model.h>
#endif
 
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