Program Listing for File robot_trajectory.hpp

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/* Author: Peter David Fagan */

#pragma once

#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <pybind11/eigen.h>
#include <moveit/robot_trajectory/robot_trajectory.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <rclcpp/rclcpp.hpp>

namespace py = pybind11;

namespace moveit_py
{
namespace bind_robot_trajectory
{
moveit_msgs::msg::RobotTrajectory
getRobotTrajectoryMsg(const robot_trajectory::RobotTrajectoryConstPtr& robot_trajectory,
                      const std::vector<std::string>& joint_filter);
robot_trajectory::RobotTrajectory
setRobotTrajectoryMsg(const std::shared_ptr<robot_trajectory::RobotTrajectory>& robot_trajectory,
                      const moveit::core::RobotState& robot_state, const moveit_msgs::msg::RobotTrajectory& msg);

void initRobotTrajectory(py::module& m);
}  // namespace bind_robot_trajectory
}  // namespace moveit_py