pyplanning_scene.cpp
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34 
35 /* Author: Peter Mitrano */
36 
37 #include <memory>
38 #include <pybind11/pybind11.h>
39 #include <pybind11/stl.h>
42 
43 namespace py = pybind11;
44 using namespace planning_scene;
45 
46 void def_planning_scene_bindings(py::module& m)
47 {
48  m.doc() = "The planning scene represents the state of the world and the robot, "
49  "and can be used for collision checking";
50 
51  py::class_<PlanningScene, PlanningScenePtr>(m, "PlanningScene")
52  .def(py::init<const moveit::core::RobotModelConstPtr&, const collision_detection::WorldPtr&>(),
53  py::arg("robot_model"), py::arg("world") = std::make_shared<collision_detection::World>())
54  .def("checkSelfCollision",
55  py::overload_cast<const collision_detection::CollisionRequest&, collision_detection::CollisionResult&>(
57  .def("checkSelfCollision",
61  .def("checkCollision",
62  py::overload_cast<const collision_detection::CollisionRequest&, collision_detection::CollisionResult&>(
63  &PlanningScene::checkCollision, py::const_))
64  .def("checkCollision",
67  &PlanningScene::checkCollision, py::const_))
68  .def("getCurrentStateNonConst", &PlanningScene::getCurrentStateNonConst)
69  .def("getCurrentState", &PlanningScene::getCurrentState)
70  .def("getAllowedCollisionMatrix", &PlanningScene::getAllowedCollisionMatrix)
71  .def("isStateConstrained",
72  py::overload_cast<const moveit_msgs::RobotState&, const kinematic_constraints::KinematicConstraintSet&, bool>(
74  py::arg("state"), py::arg("constr"), py::arg("verbose") = false)
75  .def(
76  "isStateConstrained",
77  py::overload_cast<const moveit::core::RobotState&, const kinematic_constraints::KinematicConstraintSet&, bool>(
79  py::arg("state"), py::arg("constr"), py::arg("verbose") = false)
80  .def("isStateConstrained",
81  py::overload_cast<const moveit_msgs::RobotState&, const moveit_msgs::Constraints&, bool>(
83  py::arg("state"), py::arg("constr"), py::arg("verbose") = false)
84  .def("isStateConstrained",
85  py::overload_cast<const moveit::core::RobotState&, const moveit_msgs::Constraints&, bool>(
87  py::arg("state"), py::arg("constr"), py::arg("verbose") = false)
88  .def("getTransforms", py::overload_cast<>(&PlanningScene::getTransforms, py::const_),
89  py::return_value_policy::reference)
90  // .def("setStateFeasibilityPredicate", &PlanningScene::setStateFeasibilityPredicate)
91  .def("isStateValid",
92  py::overload_cast<const moveit_msgs::RobotState&, const std::string&, bool>(&PlanningScene::isStateValid,
93  py::const_),
94  py::arg("state"), py::arg("group"), py::arg("verbose") = false)
95  .def("isStateValid",
96  py::overload_cast<const moveit::core::RobotState&, const std::string&, bool>(&PlanningScene::isStateValid,
97  py::const_),
98  py::arg("state"), py::arg("group"), py::arg("verbose") = false)
99  .def("isStateValid",
100  py::overload_cast<const moveit_msgs::RobotState&, const moveit_msgs::Constraints&, const std::string&, bool>(
101  &PlanningScene::isStateValid, py::const_),
102  py::arg("state"), py::arg("constr"), py::arg("group"), py::arg("verbose") = false)
103  .def("isStateValid",
104  py::overload_cast<const moveit::core::RobotState&, const moveit_msgs::Constraints&, const std::string&, bool>(
105  &PlanningScene::isStateValid, py::const_),
106  py::arg("state"), py::arg("constr"), py::arg("group"), py::arg("verbose") = false)
107  .def("isStateValid",
109  const std::string&, bool>(&PlanningScene::isStateValid, py::const_),
110  py::arg("state"), py::arg("constr"), py::arg("group"), py::arg("verbose") = false)
111  .def("setCurrentState", py::overload_cast<const moveit_msgs::RobotState&>(&PlanningScene::setCurrentState))
112  .def("setCurrentState", py::overload_cast<const robot_state::RobotState&>(&PlanningScene::setCurrentState))
113  //
114  ;
115 }
planning_scene::PlanningScene::getCurrentState
const moveit::core::RobotState & getCurrentState() const
Get the state at which the robot is assumed to be.
Definition: planning_scene.h:181
pybind_rosmsg_typecasters.h
planning_scene::PlanningScene::getTransforms
const moveit::core::Transforms & getTransforms() const
Get the set of fixed transforms from known frames to the planning frame.
Definition: planning_scene.h:205
planning_scene::PlanningScene::isStateConstrained
bool isStateConstrained(const moveit_msgs::RobotState &state, const moveit_msgs::Constraints &constr, bool verbose=false) const
Check if a given state satisfies a set of constraints.
Definition: planning_scene.cpp:2104
planning_scene::PlanningScene::getAllowedCollisionMatrix
const collision_detection::AllowedCollisionMatrix & getAllowedCollisionMatrix() const
Get the allowed collision matrix.
Definition: planning_scene.h:362
planning_scene.h
planning_scene::PlanningScene::setCurrentState
void setCurrentState(const moveit_msgs::RobotState &state)
Set the current robot state to be state. If not all joint values are specified, the previously mainta...
Definition: planning_scene.cpp:1178
moveit::core::RobotState
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:155
collision_detection::CollisionRequest
Representation of a collision checking request.
Definition: include/moveit/collision_detection/collision_common.h:216
planning_scene::PlanningScene::getCurrentStateNonConst
moveit::core::RobotState & getCurrentStateNonConst()
Get the state at which the robot is assumed to be.
Definition: planning_scene.cpp:609
planning_scene::PlanningScene::isStateValid
bool isStateValid(const moveit_msgs::RobotState &state, const std::string &group="", bool verbose=false) const
Check if a given state is valid. This means checking for collisions and feasibility.
Definition: planning_scene.cpp:2144
collision_detection::AllowedCollisionMatrix
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
Definition: collision_matrix.h:112
planning_scene::PlanningScene::checkCollision
void checkCollision(const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
Check whether the current state is in collision, and if needed, updates the collision transforms of t...
Definition: planning_scene.cpp:494
collision_detection::CollisionResult
Representation of a collision checking result.
Definition: include/moveit/collision_detection/collision_common.h:177
def_planning_scene_bindings
void def_planning_scene_bindings(py::module &m)
Definition: pyplanning_scene.cpp:46
kinematic_constraints::KinematicConstraintSet
A class that contains many different constraints, and can check RobotState *versus the full set....
Definition: kinematic_constraint.h:903
planning_scene::PlanningScene::checkSelfCollision
void checkSelfCollision(const collision_detection::CollisionRequest &req, collision_detection::CollisionResult &res)
Check whether the current state is in self collision.
Definition: planning_scene.cpp:510
pybind11
Definition: pybind_rosmsg_typecasters.h:55
planning_scene
This namespace includes the central class for representing planning contexts.
Definition: planning_interface.h:45


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Jan 18 2022 03:23:45