planning_component.hpp

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/* Author: Peter David Fagan */
 
#pragma once
 
#include <pybind11/pybind11.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <pybind11/numpy.h>
#include <pybind11/functional.h>
#include <moveit_py/moveit_py_utils/copy_ros_msg.hpp>
#include <moveit_py/moveit_py_utils/ros_msg_typecasters.hpp>
#include <moveit/moveit_cpp/moveit_cpp.h>
#include <moveit/moveit_cpp/planning_component.h>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <moveit_msgs/msg/constraints.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
 
#include "moveit_cpp.hpp"
#include "../planning_scene_monitor/planning_scene_monitor.hpp"
 
namespace py = pybind11;
 
namespace moveit_py
{
namespace bind_planning_component
{
moveit_cpp::PlanningComponent::PlanSolution
plan(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
     std::shared_ptr<moveit_cpp::PlanningComponent::PlanRequestParameters>& parameters);
 
bool setGoal(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
             std::optional<std::string> configuration_name, std::optional<moveit::core::RobotState> robot_state,
             std::optional<geometry_msgs::msg::PoseStamped> pose_stamped_msg, std::optional<std::string> pose_link,
             std::optional<std::vector<moveit_msgs::msg::Constraints>> motion_plan_constraints);
 
bool setStartState(std::shared_ptr<moveit_cpp::PlanningComponent>& planning_component,
                   std::optional<std::string> configuration_name, std::optional<moveit::core::RobotState> robot_state);
 
void initPlanRequestParameters(py::module& m);
 
void initPlanningComponent(py::module& m);
 
moveit_msgs::msg::MoveItErrorCodes
getMotionPlanSolutionErrorCode(std::shared_ptr<moveit_cpp::PlanningComponent::PlanSolution>& plan_solution);
 
moveit_msgs::msg::RobotState
getMotionPlanSolutionStartState(std::shared_ptr<moveit_cpp::PlanningComponent::PlanSolution>& plan_solution);
 
std::shared_ptr<robot_trajectory::RobotTrajectory>
getMotionPlanSolutionTrajectory(std::shared_ptr<moveit_cpp::PlanningComponent::PlanSolution>& plan_solution);
 
void initPlanSolution(py::module& m);
}  // namespace bind_planning_component
}  // namespace moveit_py