wrap_python_planning_scene_interface.cpp

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/* Author: Ioan Sucan */

#include <moveit/planning_scene_interface/planning_scene_interface.h>
#include <moveit/py_bindings_tools/roscpp_initializer.h>
#include <moveit/py_bindings_tools/py_conversions.h>

#include <boost/function.hpp>
#include <boost/python.hpp>
#include <Python.h>

namespace bp = boost::python;

namespace moveit
{
namespace planning_interface
{

class PlanningSceneInterfaceWrapper : protected py_bindings_tools::ROScppInitializer,
                                      public PlanningSceneInterface
{
public:

  // ROSInitializer is constructed first, and ensures ros::init() was called, if needed
  PlanningSceneInterfaceWrapper() : py_bindings_tools::ROScppInitializer(),
                                    PlanningSceneInterface()
  {
  }

  bp::list getKnownObjectNamesPython(bool with_type = false)
  {
    return moveit::py_bindings_tools::listFromString(getKnownObjectNames(with_type));
  }

  bp::list getKnownObjectNamesInROIPython(double minx, double miny, double minz, double maxx, double maxy, double maxz, bool with_type = false)
  {
    return moveit::py_bindings_tools::listFromString(getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type));
  }

};

static void wrap_planning_scene_interface()
{
  bp::class_<PlanningSceneInterfaceWrapper> PlanningSceneClass("PlanningSceneInterface");

  PlanningSceneClass.def("get_known_object_names", &PlanningSceneInterfaceWrapper::getKnownObjectNamesPython);
  PlanningSceneClass.def("get_known_object_names_in_roi", &PlanningSceneInterfaceWrapper::getKnownObjectNamesInROIPython);
}

}
}

BOOST_PYTHON_MODULE(_moveit_planning_scene_interface)
{
  using namespace moveit::planning_interface;
  wrap_planning_scene_interface();
}