tip_frame_getter.hpp

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#pragma once
 
#include <cassert>
#include <stdexcept>
#include <string>
#include <vector>
 
#include <pilz_industrial_motion_planner/trajectory_generation_exceptions.hpp>
 
namespace pilz_industrial_motion_planner
{
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoSolverException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(MoreThanOneTipFrameException, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
 
template <class JointModelGroup>
static bool hasSolver(const JointModelGroup* group)
{
  if (group == nullptr)
  {
    throw std::invalid_argument("Group must not be null");
  }
  return group->getSolverInstance() != nullptr;
}
 
template <class JointModelGroup>
static const std::string& getSolverTipFrame(const JointModelGroup* group)
{
  if (!hasSolver(group))
  {
    throw NoSolverException("No solver for group " + group->getName());
  }
 
  const std::vector<std::string>& tip_frames{ group->getSolverInstance()->getTipFrames() };
  if (tip_frames.size() > 1)
  {
    throw MoreThanOneTipFrameException("Solver for group \"" + group->getName() + "\" has more than one tip frame");
  }
  return tip_frames.front();
}
 
}  // namespace pilz_industrial_motion_planner