pybind_rosmsg_typecasters.cpp
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34 
35 /* Author: Robert Haschke */
36 
38 
39 namespace py = pybind11;
40 namespace moveit
41 {
42 namespace python
43 {
44 py::object createMessage(const std::string& ros_msg_name)
45 {
46  // find delimiting '/' in ros msg name
47  std::size_t pos = ros_msg_name.find('/');
48  // import module
49  py::module m = py::module::import((ros_msg_name.substr(0, pos) + ".msg").c_str());
50  // retrieve type instance
51  py::object cls = m.attr(ros_msg_name.substr(pos + 1).c_str());
52  // create message instance
53  return cls();
54 }
55 
56 bool convertible(const pybind11::handle& h, const char* ros_msg_name)
57 {
58  try
59  {
60  PyObject* o = h.attr("_type").ptr();
61  return py::cast<std::string>(o) == ros_msg_name;
62  }
63  catch (const std::exception& e)
64  {
65  return false;
66  }
67 }
68 } // namespace python
69 } // namespace moveit
PYBIND11_EXPORT bool convertible(const pybind11::handle &h, const char *ros_msg_name)
PYBIND11_EXPORT pybind11::object createMessage(const std::string &ros_msg_name)
Main namespace for MoveIt!


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Mar 17 2022 02:51:04