pymoveit_core.cpp
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34 
35 /* Author: Peter Mitrano */
36 
37 #include <pybind11/pybind11.h>
38 #include <urdf_parser/urdf_parser.h>
40 #include <srdfdom/model.h>
41 
42 namespace py = pybind11;
43 
44 // Each of these functions defines the bindings for a namespace/subfolder within moveit_core
45 void def_collision_detection_bindings(py::module& contact);
46 
47 void def_robot_model_bindings(py::module& m);
48 
49 void def_robot_state_bindings(py::module& m);
50 
51 void def_transforms_bindings(py::module& m);
52 
53 void def_planning_scene_bindings(py::module& m);
54 
55 void def_kinematic_constraints_bindings(py::module& m);
56 
57 auto load_robot_model(const std::string& urdf_path, const std::string& srdf_path)
58 {
59  auto urdf_model = urdf::parseURDFFile(urdf_path);
60  auto srdf_model = std::make_shared<srdf::Model>();
61  srdf_model->initFile(*urdf_model, srdf_path);
62  auto robot_model = std::make_shared<moveit::core::RobotModel>(urdf_model, srdf_model);
63  return robot_model;
64 }
65 
66 PYBIND11_MODULE(pymoveit_core, m)
67 {
68  auto collision_detection_m = m.def_submodule("collision_detection");
69  auto planning_scene_m = m.def_submodule("planning_scene");
70  auto robot_model_m = m.def_submodule("robot_model");
71  auto robot_state_m = m.def_submodule("robot_state");
72  auto kinematic_constraints_m = m.def_submodule("kinematic_constraints");
73  auto transforms_m = m.def_submodule("transforms");
74 
75  def_collision_detection_bindings(collision_detection_m);
76  def_robot_model_bindings(robot_model_m);
77  def_robot_state_bindings(robot_state_m);
78  def_planning_scene_bindings(planning_scene_m);
79  def_transforms_bindings(transforms_m);
80  def_kinematic_constraints_bindings(kinematic_constraints_m);
81 
82  // convenience function
83  m.def("load_robot_model", &load_robot_model);
84 }
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:83
def_robot_model_bindings
void def_robot_model_bindings(py::module &m)
Definition: pyrobot_model.cpp:46
def_transforms_bindings
void def_transforms_bindings(py::module &m)
Definition: pytransforms.cpp:46
robot_model.h
def_collision_detection_bindings
void def_collision_detection_bindings(py::module &contact)
Definition: pycollision_detection.cpp:49
def_planning_scene_bindings
void def_planning_scene_bindings(py::module &m)
Definition: pyplanning_scene.cpp:46
PYBIND11_MODULE
PYBIND11_MODULE(pymoveit_core, m)
Definition: pymoveit_core.cpp:66
model.h
def_kinematic_constraints_bindings
void def_kinematic_constraints_bindings(py::module &m)
Definition: pykinematic_constraint.cpp:50
def_robot_state_bindings
void def_robot_state_bindings(py::module &m)
Definition: pyrobot_state.cpp:48
pybind11
Definition: pybind_rosmsg_typecasters.h:55
load_robot_model
auto load_robot_model(const std::string &urdf_path, const std::string &srdf_path)
Definition: pymoveit_core.cpp:57


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Nov 24 2022 03:32:15