split module definition between files

moveit_py/CMakeLists.txt

@@ -22,7 +22,12 @@ endfunction()
 
 pybind11_add_module(core
 	src/moveit_py/core.cpp
+	src/moveit_py/moveit_core/robot_model/joint_model_group.cpp
+	src/moveit_py/moveit_core/robot_model/robot_model.cpp
 	src/moveit_py/moveit_core/robot_state/robot_state.cpp
+	src/moveit_py/moveit_core/robot_trajectory/robot_trajectory.cpp
+	src/moveit_py/moveit_core/collision_detection/collision_common.cpp 
+	src/moveit_py/moveit_core/collision_detection/collision_matrix.cpp
 	src/moveit_py/moveit_core/planning_scene/planning_scene.cpp
 	src/moveit_py/utils/copy_ros_msg.cpp
 	)

moveit_py/src/moveit_py/moveit_core/collision_detection/collision_common.cpp

@@ -0,0 +1,129 @@
+/*********************************************************************
+ * 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 the 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 "collision_common.h"
+
+namespace moveit_py
+{
+namespace bind_collision_detection
+{
+void init_collision_request(py::module& m)
+{
+  py::class_<collision_detection::CollisionRequest>(m, "CollisionRequest", R"(
+      Representation of a collision checking request.
+      )")
+
+      .def(py::init<>())
+
+      .def_readwrite("joint_model_group_name", &collision_detection::CollisionRequest::group_name,
+                     R"(
+                     str: The group name to check collisions for (optional; if empty, assume the complete robot)
+                     )")
+
+      .def_readwrite("distance", &collision_detection::CollisionRequest::distance,
+                     R"(
+                     bool: If true, compute proximity distance.
+                     )")
+
+      .def_readwrite("cost", &collision_detection::CollisionRequest::cost,
+                     R"(
+                     bool: If true, a collision cost is computed.
+                     )")
+
+      .def_readwrite("contacts", &collision_detection::CollisionRequest::contacts,
+                     R"(
+                     bool: If true, compute contacts.
+                     )")
+
+      .def_readwrite("max_contacts", &collision_detection::CollisionRequest::max_contacts,
+                     R"(
+                     int: Overall maximum number of contacts to compute.
+                     )")
+
+      .def_readwrite("max_contacts_per_pair", &collision_detection::CollisionRequest::max_contacts_per_pair,
+                     R"(
+                     int: Maximum number of contacts to compute per pair of bodies (multiple bodies may be in contact at different configurations).
+                     )")
+
+      .def_readwrite("max_cost_sources", &collision_detection::CollisionRequest::max_cost_sources,
+                     R"(
+                     int: When costs are computed, this value defines how many of the top cost sources should be returned.
+                     )")
+
+      // TODO (peterdavidfagan): define is_done as function call.
+      //.def_readwrite("is_done", &collision_detection::CollisionRequest::is_done,
+      //               R"(
+      //               )")
+
+      .def_readwrite("verbose", &collision_detection::CollisionRequest::verbose,
+                     R"(
+                     bool: Flag indicating whether information about detected collisions should be reported.
+                     )");
+}
+
+void init_collision_result(py::module& m)
+{
+  py::class_<collision_detection::CollisionResult>(m, "CollisionResult", R"(
+      Representation of a collision checking result.
+      )")
+      .def_readwrite("collision", &collision_detection::CollisionResult::collision,
+                     R"(
+                     bool: True if collision was found, false otherwise.
+                     )")
+
+      .def_readwrite("distance", &collision_detection::CollisionResult::distance,
+                     R"(
+                     float: Closest distance between two bodies.
+                     )")
+
+      .def_readwrite("contact_count", &collision_detection::CollisionResult::contact_count,
+                     R"(
+                     int: Number of contacts returned.
+                     )")
+
+      // TODO (peterdavidfagan): define binding and test for ContactMap.
+      .def_readwrite("contacts", &collision_detection::CollisionResult::contacts,
+                     R"(
+                     dict: A dict returning the pairs of ids of the bodies in contact, plus information about the contacts themselves.
+                     )")
+
+      .def_readwrite("cost_sources", &collision_detection::CollisionResult::cost_sources,
+                     R"(
+                     dict: The individual cost sources from computed costs.
+                     )");
+}
+}  // namespace bind_collision_detection
+}  // namespace moveit_py

moveit_py/src/moveit_py/moveit_core/collision_detection/collision_common.h

@@ -0,0 +1,51 @@
+/*********************************************************************
+ * 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 the 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 <pybind11/pybind11.h>
+#include <pybind11/eigen.h>
+#include <pybind11/stl.h>
+#include <moveit/collision_detection/collision_common.h>
+
+namespace py = pybind11;
+
+namespace moveit_py
+{
+namespace bind_collision_detection
+{
+void init_collision_request(py::module& m);
+void init_collision_result(py::module& m);
+}  // namespace bind_collision_detection
+}  // namespace moveit_py

moveit_py/src/moveit_py/moveit_core/collision_detection/collision_matrix.cpp

@@ -0,0 +1,60 @@
+/*********************************************************************
+ * 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 "collision_matrix.h"
+
+namespace moveit_py
+{
+namespace bind_collision_detection
+{
+void init_acm(py::module &m)
+{
+  py::class_<collision_detection::AllowedCollisionMatrix, std::shared_ptr<collision_detection::AllowedCollisionMatrix>>(
+      m, "AllowedCollisionMatrix",
+      R"(
+          Definition of a structure for the allowed collision matrix. All elements in the collision world are referred to by their names. This class represents which collisions are allowed to happen and which are not.
+          )")
+      .def(py::init<std::vector<std::string>&, bool>(),
+           R"(
+       Initialize the allowed collision matrix using a list of names of collision objects.
+       Args:
+           names (list of str): A list of names of the objects in the collision world (corresponding to object IDs in the collision world).
+           allowed (bool): If false, indicates that collisions between all elements must be checked for and no collisions will be ignored.
+       )",
+           py::arg("names"), py::arg("default_entry") = false);
+}
+}  // namespace bind_collision_detection
+}  // namespace moveit_py

moveit_py/src/moveit_py/moveit_core/collision_detection/collision_matrix.h

@@ -0,0 +1,50 @@
+/*********************************************************************
+ * 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 the 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 <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <pybind11/eigen.h>
+#include <moveit/collision_detection/collision_matrix.h>
+
+namespace py = pybind11;
+
+namespace moveit_py
+{
+namespace bind_collision_detection
+{
+void init_acm(py::module &m);
+}  // namespace bind_collision_detection
+}  // namespace moveit_py