pyrobot_model.cpp
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34 
35 /* Author: Peter Mitrano */
36 
37 #include <pybind11/pybind11.h>
38 #include <pybind11/stl.h>
40 #include <urdf_model/model.h>
42 
43 namespace py = pybind11;
44 using namespace robot_model;
45 
46 void def_robot_model_bindings(py::module& m)
47 {
48  m.doc() = "Definition of a kinematic model. Not thread safe, however multiple instances can be created.";
49  py::class_<RobotModel, RobotModelPtr>(m, "RobotModel")
50  .def(py::init<const urdf::ModelInterfaceSharedPtr&, const srdf::ModelConstSharedPtr&>(), py::arg("urdf_model"),
51  py::arg("srdf_model"))
52  .def("getName", &RobotModel::getName)
53  .def("getLinkModelNames", &RobotModel::getLinkModelNames)
54  .def("getJointModelNames", &RobotModel::getJointModelNames)
55  //
56  ;
57 
58  py::class_<JointModelGroup, JointModelGroupPtr>(m, "JointModelGroup")
59  .def("getLinkModelNames", &JointModelGroup::getLinkModelNames)
60  .def("getJointModelNames", &JointModelGroup::getJointModelNames)
61  //
62  ;
63 }
moveit::core
Core components of MoveIt.
Definition: kinematics_base.h:83
pybind_rosmsg_typecasters.h
robot_model.h
def_robot_model_bindings
void def_robot_model_bindings(py::module &m)
Definition: pyrobot_model.cpp:46
moveit::core::JointModelGroup::getJointModelNames
const std::vector< std::string > & getJointModelNames() const
Get the names of the joints in this group. These are the names of the joints returned by getJointMode...
Definition: joint_model_group.h:216
moveit::core::RobotModel::getName
const std::string & getName() const
Get the model name.
Definition: robot_model.h:151
moveit::core::JointModelGroup::getLinkModelNames
const std::vector< std::string > & getLinkModelNames() const
Get the names of the links that are part of this joint group.
Definition: joint_model_group.h:284
pybind11
Definition: pybind_rosmsg_typecasters.h:55
moveit::core::RobotModel::getLinkModelNames
const std::vector< std::string > & getLinkModelNames() const
Get the link names (of all links)
Definition: robot_model.h:349
moveit::core::RobotModel::getJointModelNames
const std::vector< std::string > & getJointModelNames() const
Get the array of joint names, in the order they appear in the robot state.
Definition: robot_model.h:230


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Nov 21 2021 03:25:56