[MSA] Merge main into feature/msa (Part III) (moveit#1249)

DLu · Jun 13, 2022 · 29c7d82 · 29c7d82
1 parent 0eeca58
commit 29c7d82
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Showing 10 changed files with 35 additions and 10 deletions.
diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_app_plugins/CMakeLists.txt
@@ -29,6 +29,7 @@ add_library(${PROJECT_NAME}
     src/perception_config.cpp
     src/perception.cpp
     src/perception_widget.cpp
+    src/xml_manipulation.cpp
     ${MOC_FILES}
 )
 target_include_directories(${PROJECT_NAME} PUBLIC

diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/src/simulation_widget.cpp b/moveit_setup_assistant/moveit_setup_app_plugins/src/simulation_widget.cpp
@@ -36,8 +36,8 @@
 // SA
 #include "simulation_widget.h"
 #include "header_widget.h"
-#include "../tools/xml_syntax_highlighter.h"
-#include <moveit/setup_assistant/tools/xml_manipulation.h>
+#include <moveit_setup_framework/qt/xml_syntax_highlighter.hpp>
+#include <moveit_setup_app_plugins/xml_manipulation.hpp>
 
 // Qt
 #include <QColor>

diff --git a/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt b/moveit_setup_assistant/moveit_setup_framework/CMakeLists.txt
@@ -38,6 +38,7 @@ add_library(${PROJECT_NAME}
     src/rviz_panel.cpp
     src/data_warehouse.cpp
     src/templates.cpp
+    src/xml_syntax_highlighter.cpp
     ${MOC_FILES}
 )
 target_include_directories(${PROJECT_NAME} PUBLIC

diff --git a/...nt/moveit_setup_framework/include/moveit_setup_framework/data/package_settings_config.hpp b/...nt/moveit_setup_framework/include/moveit_setup_framework/data/package_settings_config.hpp
@@ -39,7 +39,7 @@
 
 namespace moveit_setup_framework
 {
-const std::string SETUP_ASSISTANT_FILE = ".setup_assistant";
+static const std::string SETUP_ASSISTANT_FILE = ".setup_assistant";
 
 class PackageSettingsConfig : public SetupConfig
 {

diff --git a/...etup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp b/...etup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
@@ -68,6 +68,16 @@ class URDFConfig : public SetupConfig
     return urdf_model_;
   }
 
+  std::string getURDFPackageName() const
+  {
+    return urdf_pkg_name_;
+  }
+
+  std::string getURDFContents() const
+  {
+    return urdf_string_;
+  }
+
   std::string getURDFPath() const
   {
     return urdf_path_;

diff --git a/...stant/moveit_setup_framework/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp b/...stant/moveit_setup_framework/include/moveit_setup_framework/qt/xml_syntax_highlighter.hpp
@@ -40,6 +40,8 @@
 #include <QRegularExpression>
 #include <map>
 
+namespace moveit_setup_framework
+{
 /** XML SyntaxHighlighter allowing nested highlighting of XML tags */
 class XmlSyntaxHighlighter : public QSyntaxHighlighter
 {
@@ -63,3 +65,5 @@ class XmlSyntaxHighlighter : public QSyntaxHighlighter
 
   Rules::const_iterator highlight(Rules::const_iterator active, QStringRef text, int start, bool search_end, int& end);
 };
+
+}  // namespace moveit_setup_framework
diff --git a/moveit_setup_assistant/moveit_setup_framework/src/xml_syntax_highlighter.cpp b/moveit_setup_assistant/moveit_setup_framework/src/xml_syntax_highlighter.cpp
@@ -34,9 +34,11 @@
 
 /* Author: Robert Haschke */
 
-#include "xml_syntax_highlighter.h"
+#include <moveit_setup_framework/qt/xml_syntax_highlighter.hpp>
 #include <assert.h>
 
+namespace moveit_setup_framework
+{
 XmlSyntaxHighlighter::XmlSyntaxHighlighter(QTextDocument* parent) : QSyntaxHighlighter(parent)
 {
 }
@@ -122,3 +124,5 @@ void XmlSyntaxHighlighter::highlightBlock(const QString& text)
   active = highlight(active, QStringRef(&text, 0, text.size()), 0, active != rules.cend(), unused);
   setCurrentBlockState(active != rules.cend() ? active->first : -1);
 }
+
+}  // namespace moveit_setup_framework
diff --git a/...up_assistant/moveit_setup_simulation/include/moveit_setup_simulation/xml_manipulation.hpp b/...up_assistant/moveit_setup_simulation/include/moveit_setup_simulation/xml_manipulation.hpp
@@ -35,10 +35,14 @@
 /* Author: Robert Haschke */
 
 #pragma once
+
+// TODO: This header uses tinyxml.h whereas moveit_setup_framework/utilities.hpp uses tinyxml2.h
+//       One xml library should be selected and used throughout moveit_setup_assistant
+
 #include <tinyxml.h>
 #include <vector>
 
-namespace moveit_setup_assistant
+namespace moveit_setup_app_plugins
 {
 struct Attribute
 {
@@ -56,4 +60,4 @@ struct Attribute
 TiXmlElement* uniqueInsert(TiXmlElement& element, const char* tag, const std::vector<Attribute>& attributes = {},
                            const char* text = nullptr);
 
-}  // namespace moveit_setup_assistant
+}  // namespace moveit_setup_app_plugins
diff --git a/moveit_setup_assistant/moveit_setup_simulation/src/xml_manipulation.cpp b/moveit_setup_assistant/moveit_setup_simulation/src/xml_manipulation.cpp
@@ -34,9 +34,9 @@
 
 /* Author: Robert Haschke */
 
-#include <moveit/setup_assistant/tools/xml_manipulation.h>
+#include <moveit_setup_app_plugins/xml_manipulation.hpp>
 
-namespace moveit_setup_assistant
+namespace moveit_setup_app_plugins
 {
 namespace
 {
@@ -81,4 +81,4 @@ TiXmlElement* uniqueInsert(TiXmlElement& element, const char* tag, const std::ve
   return result;
 }
 
-}  // namespace moveit_setup_assistant
+}  // namespace moveit_setup_app_plugins
diff --git a/...istant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/default_collisions.hpp b/...istant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/default_collisions.hpp
@@ -44,7 +44,8 @@ struct CollisionPairLess
 {
   bool operator()(const srdf::Model::CollisionPair& left, const srdf::Model::CollisionPair& right) const
   {
-    return left.link1_ < right.link1_ && left.link2_ < right.link2_;
+    // use std::pair's operator<: (left.link1_, left.link2_) < (right.link1_, right.link2_)
+    return left.link1_ < right.link1_ || (!(right.link1_ < left.link1_) && left.link2_ < right.link2_);
   }
 };