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adding support for multi pipeline planning
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112 changes: 112 additions & 0 deletions
112
moveit_py/src/moveit_py/moveit_core/planning_interface/planning_response.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,112 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2022, Peter David Fagan | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Inc. nor te names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| /* Author: Peter David Fagan */ | ||
|
|
||
| #include "planning_response.h" | ||
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| namespace moveit_py | ||
| { | ||
| namespace bind_planning_interface | ||
| { | ||
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| std::shared_ptr<robot_trajectory::RobotTrajectory> | ||
| get_motion_plan_response_trajectory(std::shared_ptr<planning_interface::MotionPlanResponse>& response) | ||
| { | ||
| return response->trajectory_; | ||
| } | ||
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| py::object get_motion_plan_response_start_state(std::shared_ptr<planning_interface::MotionPlanResponse>& response) | ||
| { | ||
| py::module_ rclpy_serialization = py::module_::import("rclpy.serialization"); | ||
| py::module_ moveit_msgs = py::module_::import("moveit_msgs.msg"); | ||
|
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| py::object robot_state = moveit_msgs.attr("RobotState")(); | ||
| moveit_msgs::msg::RobotState robot_state_msg = response->start_state_; | ||
| py::bytes serialized_msg = serializeMsg(robot_state_msg); | ||
| rclpy_serialization.attr("deserialize_message")(serialized_msg, robot_state); | ||
| return robot_state; | ||
| } | ||
|
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| py::object get_motion_plan_response_error_code(std::shared_ptr<planning_interface::MotionPlanResponse>& response) | ||
| { | ||
| py::module_ rclpy_serialization = py::module_::import("rclpy.serialization"); | ||
| py::module_ moveit_msgs = py::module_::import("moveit_msgs.msg"); | ||
|
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| py::object error_code = moveit_msgs.attr("MoveItErrorCodes")(); | ||
| moveit_msgs::msg::MoveItErrorCodes error_code_msg = | ||
| static_cast<moveit_msgs::msg::MoveItErrorCodes>(response->error_code_); | ||
| py::bytes serialized_msg = serializeMsg(error_code_msg); | ||
| rclpy_serialization.attr("deserialize_message")(serialized_msg, error_code); | ||
| return error_code; | ||
| } | ||
|
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| double get_motion_plan_response_planning_time(std::shared_ptr<planning_interface::MotionPlanResponse>& response) | ||
| { | ||
| return response->planning_time_; | ||
| } | ||
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| std::string get_motion_plan_response_planner_id(std::shared_ptr<planning_interface::MotionPlanResponse>& response) | ||
| { | ||
| return response->planner_id_; | ||
| } | ||
|
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| void init_motion_plan_response(py::module& m) | ||
| { | ||
| py::class_<planning_interface::MotionPlanResponse, std::shared_ptr<planning_interface::MotionPlanResponse>>( | ||
| m, "MotionPlanResponse", R"()") | ||
|
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| //.def(py::init<>(), R"()") | ||
|
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| .def_property("trajectory", &moveit_py::bind_planning_interface::get_motion_plan_response_trajectory, nullptr, | ||
| py::return_value_policy::copy, R"()") | ||
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| .def_readonly("planning_time", &planning_interface::MotionPlanResponse::planning_time_, | ||
| py::return_value_policy::copy, R"()") | ||
|
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| .def_property("error_code", &moveit_py::bind_planning_interface::get_motion_plan_response_error_code, nullptr, | ||
| py::return_value_policy::copy, R"()") | ||
|
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| .def_property("start_state", &moveit_py::bind_planning_interface::get_motion_plan_response_start_state, nullptr, | ||
| py::return_value_policy::copy, R"()") | ||
|
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| .def_readonly("planner_id", &planning_interface::MotionPlanResponse::planner_id_, py::return_value_policy::copy, | ||
| R"()") | ||
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| .def("__bool__", [](std::shared_ptr<planning_interface::MotionPlanResponse>& response) { | ||
| return response->error_code_.val == moveit_msgs::msg::MoveItErrorCodes::SUCCESS; | ||
| }); | ||
| } | ||
| } // namespace bind_planning_interface | ||
| } // namespace moveit_py |
67 changes: 67 additions & 0 deletions
67
moveit_py/src/moveit_py/moveit_core/planning_interface/planning_response.h
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2022, Peter David Fagan | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of PickNik Inc. nor te names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
|
||
| /* Author: Peter David Fagan */ | ||
|
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| #pragma once | ||
|
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| #include <pybind11/pybind11.h> | ||
| #include <pybind11/eigen.h> | ||
| #include <pybind11/stl.h> | ||
| #include <moveit_msgs/msg/robot_state.h> | ||
| #include <moveit_msgs/msg/move_it_error_codes.h> | ||
| #include <serialize_ros_msg.h> | ||
| #include <moveit/planning_interface/planning_response.h> | ||
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| namespace py = pybind11; | ||
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| namespace moveit_py | ||
| { | ||
| namespace bind_planning_interface | ||
| { | ||
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| std::shared_ptr<robot_trajectory::RobotTrajectory> | ||
| get_motion_plan_response_trajectory(std::shared_ptr<planning_interface::MotionPlanResponse>& response); | ||
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| py::object get_motion_plan_response_start_state(std::shared_ptr<planning_interface::MotionPlanResponse>& response); | ||
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| py::object get_motion_plan_response_error_code(std::shared_ptr<planning_interface::MotionPlanResponse>& response); | ||
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| double get_motion_plan_response_planning_time(std::shared_ptr<planning_interface::MotionPlanResponse>& response); | ||
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| std::string get_motion_plan_response_planner_id(std::shared_ptr<planning_interface::MotionPlanResponse>& response); | ||
|
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| void init_motion_plan_response(py::module& m); | ||
| } // namespace bind_planning_interface | ||
| } // namespace moveit_py |
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