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Added set_robot_trajectory_msg to python bindings #2050

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Merged
JafarAbdi merged 3 commits into from
Mar 27, 2023
Merged

Added set_robot_trajectory_msg to python bindings #2050

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7a56d35
Added set_robot_trajectory_msg to opython bindings
JensVanhooydonck Mar 25, 2023
32c5f55
Updated formatting
JensVanhooydonck Mar 25, 2023
20c7e94
Formatting of header files
JensVanhooydonck Mar 25, 2023
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20 changes: 20 additions & 0 deletions moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,13 @@ get_robot_trajectory_msg(const robot_trajectory::RobotTrajectoryConstPtr& robot_
return msg;
}

robot_trajectory::RobotTrajectory
set_robot_trajectory_msg(const std::shared_ptr<robot_trajectory::RobotTrajectory>& robot_trajectory,
const moveit::core::RobotState& robot_state, const moveit_msgs::msg::RobotTrajectory& msg)
{
return robot_trajectory->setRobotTrajectoryMsg(robot_state, msg);
}

void init_robot_trajectory(py::module& m)
{
py::module robot_trajectory = m.def_submodule("robot_trajectory");
Expand All @@ -60,6 +67,14 @@ void init_robot_trajectory(py::module& m)
Maintains a sequence of waypoints and the durations between these waypoints.
)")

.def(py::init<const std::shared_ptr<const moveit::core::RobotModel>&>(),
R"(
Initializes an empty robot trajectory from a robot model.

Args:
:py:class:`moveit_py.core.RobotModel`: The robot model associated to the instantiated robot state.

)")
.def("__getitem__", &robot_trajectory::RobotTrajectory::getWayPoint, py::arg("idx"),
R"(
Get the waypoint at the specified index in the trajectory.
Expand Down Expand Up @@ -124,6 +139,11 @@ void init_robot_trajectory(py::module& m)
Get the trajectory as a `moveit_msgs.msg.RobotTrajectory` message.
Returns:
moveit_msgs.msg.RobotTrajectory: A ROS robot trajectory message.
)")
.def("set_robot_trajectory_msg", &moveit_py::bind_robot_trajectory::set_robot_trajectory_msg,
py::arg("robot_state"), py::arg("msg"),
R"(
Set the trajectory from a `moveit_msgs.msg.RobotTrajectory` message.
)");
// TODO (peterdavidfagan): support other methods such as appending trajectories
}
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3 changes: 3 additions & 0 deletions moveit_py/src/moveit/moveit_core/robot_trajectory/robot_trajectory.h
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Expand Up @@ -51,6 +51,9 @@ namespace bind_robot_trajectory
moveit_msgs::msg::RobotTrajectory
get_robot_trajectory_msg(const robot_trajectory::RobotTrajectoryConstPtr& robot_trajectory,
const std::vector<std::string>& joint_filter);
robot_trajectory::RobotTrajectory
set_robot_trajectory_msg(const std::shared_ptr<robot_trajectory::RobotTrajectory>& robot_trajectory,
const moveit::core::RobotState& robot_state, const moveit_msgs::msg::RobotTrajectory& msg);

void init_robot_trajectory(py::module& m);
} // namespace bind_robot_trajectory
Expand Down