wrap_python_planning_scene_interface.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/planning_scene_interface/planning_scene_interface.h>
00038 #include <moveit/py_bindings_tools/roscpp_initializer.h>
00039 #include <moveit/py_bindings_tools/py_conversions.h>
00040 #include <moveit/py_bindings_tools/serialize_msg.h>
00041 
00042 #include <boost/function.hpp>
00043 #include <boost/python.hpp>
00044 #include <Python.h>
00045 
00048 namespace bp = boost::python;
00049 
00050 namespace moveit
00051 {
00052 namespace planning_interface
00053 {
00054 class PlanningSceneInterfaceWrapper : protected py_bindings_tools::ROScppInitializer, public PlanningSceneInterface
00055 {
00056 public:
00057   // ROSInitializer is constructed first, and ensures ros::init() was called, if needed
00058   PlanningSceneInterfaceWrapper() : py_bindings_tools::ROScppInitializer(), PlanningSceneInterface()
00059   {
00060   }
00061 
00062   bp::list getKnownObjectNamesPython(bool with_type = false)
00063   {
00064     return py_bindings_tools::listFromString(getKnownObjectNames(with_type));
00065   }
00066 
00067   bp::list getKnownObjectNamesInROIPython(double minx, double miny, double minz, double maxx, double maxy, double maxz,
00068                                           bool with_type = false)
00069   {
00070     return py_bindings_tools::listFromString(getKnownObjectNamesInROI(minx, miny, minz, maxx, maxy, maxz, with_type));
00071   }
00072 
00073   bp::dict getObjectPosesPython(bp::list object_ids)
00074   {
00075     std::map<std::string, geometry_msgs::Pose> ops = getObjectPoses(py_bindings_tools::stringFromList(object_ids));
00076     std::map<std::string, std::string> ser_ops;
00077     for (std::map<std::string, geometry_msgs::Pose>::const_iterator it = ops.begin(); it != ops.end(); ++it)
00078       ser_ops[it->first] = py_bindings_tools::serializeMsg(it->second);
00079 
00080     return py_bindings_tools::dictFromType(ser_ops);
00081   }
00082 
00083   bp::dict getObjectsPython(bp::list object_ids)
00084   {
00085     std::map<std::string, moveit_msgs::CollisionObject> objs =
00086         getObjects(py_bindings_tools::stringFromList(object_ids));
00087     std::map<std::string, std::string> ser_objs;
00088     for (std::map<std::string, moveit_msgs::CollisionObject>::const_iterator it = objs.begin(); it != objs.end(); ++it)
00089       ser_objs[it->first] = py_bindings_tools::serializeMsg(it->second);
00090 
00091     return py_bindings_tools::dictFromType(ser_objs);
00092   }
00093 
00094   bp::dict getAttachedObjectsPython(const bp::list& object_ids)
00095   {
00096     std::map<std::string, moveit_msgs::AttachedCollisionObject> aobjs =
00097         getAttachedObjects(py_bindings_tools::stringFromList(object_ids));
00098     std::map<std::string, std::string> ser_aobjs;
00099     for (std::map<std::string, moveit_msgs::AttachedCollisionObject>::const_iterator it = aobjs.begin();
00100          it != aobjs.end(); ++it)
00101       ser_aobjs[it->first] = py_bindings_tools::serializeMsg(it->second);
00102 
00103     return py_bindings_tools::dictFromType(ser_aobjs);
00104   }
00105 };
00106 
00107 static void wrap_planning_scene_interface()
00108 {
00109   bp::class_<PlanningSceneInterfaceWrapper> PlanningSceneClass("PlanningSceneInterface");
00110 
00111   PlanningSceneClass.def("get_known_object_names", &PlanningSceneInterfaceWrapper::getKnownObjectNamesPython);
00112   PlanningSceneClass.def("get_known_object_names_in_roi",
00113                          &PlanningSceneInterfaceWrapper::getKnownObjectNamesInROIPython);
00114   PlanningSceneClass.def("get_object_poses", &PlanningSceneInterfaceWrapper::getObjectPosesPython);
00115   PlanningSceneClass.def("get_objects", &PlanningSceneInterfaceWrapper::getObjectsPython);
00116   PlanningSceneClass.def("get_attached_objects", &PlanningSceneInterfaceWrapper::getAttachedObjectsPython);
00117 }
00118 }
00119 }
00120 
00121 BOOST_PYTHON_MODULE(_moveit_planning_scene_interface)
00122 {
00123   using namespace moveit::planning_interface;
00124   wrap_planning_scene_interface();
00125 }
00126 


planning_interface
Author(s): Ioan Sucan
autogenerated on Wed Jan 17 2018 03:32:49