planning.cpp

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/* Author: Peter David Fagan */
 
#include "moveit_ros/moveit_cpp/moveit_cpp.hpp"
#include "moveit_ros/moveit_cpp/planning_component.hpp"
#include "moveit_ros/planning_scene_monitor/planning_scene_monitor.hpp"
#include "moveit_ros/trajectory_execution_manager/trajectory_execution_manager.hpp"
 
PYBIND11_MODULE(planning, m)
{
  m.doc() = "Python bindings for moveit_cpp functionalities.";
 
  py::module_::import("moveit.core");
 
  // Provide custom function signatures
  py::options options;
  options.disable_function_signatures();
 
  // Construct module classes
  moveit_py::bind_planning_component::initPlanRequestParameters(m);
  moveit_py::bind_planning_component::initPlanningComponent(m);
  moveit_py::bind_planning_component::initPlanSolution(m);
  moveit_py::bind_planning_scene_monitor::initPlanningSceneMonitor(m);
  moveit_py::bind_planning_scene_monitor::initContextManagers(m);
  moveit_py::bind_trajectory_execution_manager::initTrajectoryExecutionManager(m);
  moveit_py::bind_moveit_cpp::initMoveitPy(m);
}