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Allow use of robowflex_dart with C++20 #315

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Allow use of robowflex_dart with C++20 #315

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4 changes: 4 additions & 0 deletions robowflex_dart/include/robowflex_dart/robot.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,10 @@
#ifndef ROBOWFLEX_DART_ROBOT_
#define ROBOWFLEX_DART_ROBOT_

#ifndef ROBOWFLEX_DART_ONLY
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#endif

#include <dart/dynamics/Skeleton.hpp>
#include <dart/collision/CollisionFilter.hpp>
Expand Down Expand Up @@ -95,6 +97,7 @@ namespace robowflex
/** \name State Operations
\{ */

#ifndef ROBOWFLEX_DART_ONLY
/** \brief Set the current state of this robot from a MoveIt message.
* \param[in] msg Message to set state to.
*/
Expand Down Expand Up @@ -139,6 +142,7 @@ namespace robowflex
*/
void setMoveItJMGFromState(const std::string &jmg, Eigen::Ref<Eigen::VectorXd> vec) const;

#endif
/** \} */

/** \name Group Operations
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2 changes: 2 additions & 0 deletions robowflex_dart/src/robot.cpp
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Expand Up @@ -461,6 +461,7 @@ void Robot::setNamedGroupState(const std::string &group, const std::string &name
it->second = q;
}

#ifndef ROBOWFLEX_DART_ONLY
void Robot::setStateFromMoveItMsg(const moveit_msgs::RobotState &msg)
{
for (std::size_t i = 0; i < msg.joint_state.name.size(); ++i)
Expand Down Expand Up @@ -564,6 +565,7 @@ void Robot::setMoveItJMGFromState(const std::string &jmg, Eigen::Ref<Eigen::Vect
setMoveItStateFromState(*robot_->getScratchState()); // copy current state
robot_->getScratchState()->copyJointGroupPositions(jmg, vec.data()); // copy JMG state
}
#endif

void Robot::processGroup(const std::string &group)
{
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