core.cpp

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/* Author: Peter David Fagan */
 
#include "moveit_core/collision_detection/collision_common.h"
#include "moveit_core/collision_detection/collision_matrix.h"
#include "moveit_core/collision_detection/world.h"
#include "moveit_core/controller_manager/controller_manager.h"
#include "moveit_core/kinematic_constraints/utils.h"
#include "moveit_core/planning_interface/planning_response.h"
#include "moveit_core/planning_scene/planning_scene.h"
#include "moveit_core/robot_model/joint_model.h"
#include "moveit_core/robot_model/joint_model_group.h"
#include "moveit_core/robot_model/robot_model.h"
#include "moveit_core/robot_state/robot_state.h"
#include "moveit_core/robot_trajectory/robot_trajectory.h"
 
PYBIND11_MODULE(core, m)
{
  m.doc() = R"(
            Python bindings for moveit_core functionalities.
            )";
 
  // Provide custom function signatures
  py::options options;
  options.disable_function_signatures();
 
  // Construct module classes
  moveit_py::bind_collision_detection::initCollisionRequest(m);
  moveit_py::bind_collision_detection::initCollisionResult(m);
  moveit_py::bind_collision_detection::initWorld(m);
  moveit_py::bind_collision_detection::initAcm(m);
  moveit_py::bind_controller_manager::initExecutionStatus(m);
  moveit_py::bind_kinematic_constraints::initKinematicConstraints(m);
  moveit_py::bind_planning_scene::initPlanningScene(m);
  moveit_py::bind_planning_interface::initMotionPlanResponse(m);
  moveit_py::bind_robot_model::initJointModel(m);
  moveit_py::bind_robot_model::initJointModelGroup(m);
  moveit_py::bind_robot_model::initRobotModel(m);
  moveit_py::bind_robot_state::initRobotState(m);
  moveit_py::bind_robot_trajectory::initRobotTrajectory(m);
  // TODO (peterdavidfagan): complete LinkModel bindings
  // LinkModel
  // py::class_<moveit::core::LinkModel>(m, "LinkModel");
 
  // TODO (peterdavidfagan): complete JointModel bindings
  // JointModel (this is an abstract base class)
  // py::class_<moveit::core::JointModel>(m, "JointModel");
}